{
    "0": {
        "acceleration": [
            -0.0003339118848089129,
            -0.0021972600370645523,
            -0.12196056544780731
        ],
        "angular_velocity": [
            0.028121091425418854,
            -0.006644628010690212,
            -8.486644219374284e-05
        ],
        "forward_vector": [
            -0.999972403049469,
            0.0059099760837852955,
            0.00450418796390295
        ],
        "right_vector": [
            -0.005909887608140707,
            -0.9999825358390808,
            3.302285404060967e-05
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.4188537597656
        ],
        "rotation": [
            -0.0018920892616733909,
            0.2580718398094177,
            179.661376953125
        ],
        "velocity": [
            6.943997141206637e-05,
            -0.00019126382539980114,
            0.018893197178840637
        ],
        "speed": 0.00020347914029765854,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0011596849653869867,
        "expert_target_speed": 1.2169285227658821,
        "target_point": [
            50.999163732959516,
            -0.0003592170251114357
        ],
        "target_point_next": [
            101.99917238190014,
            -0.00022515083930241264
        ]
    },
    "5": {
        "acceleration": [
            0.00023714674171060324,
            -0.0014192279195412993,
            -0.027485070750117302
        ],
        "angular_velocity": [
            0.012651507742702961,
            -0.0028930017724633217,
            1.7717698028718587e-06
        ],
        "forward_vector": [
            -0.9999724626541138,
            0.005909261293709278,
            0.004492863547056913
        ],
        "right_vector": [
            -0.005909220315515995,
            -0.9999825358390808,
            2.2370320948539302e-05
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.4212951660156
        ],
        "rotation": [
            -0.0012817379320040345,
            0.2574229836463928,
            179.6614227294922
        ],
        "velocity": [
            1.9552930098143406e-05,
            -2.2746733520762064e-05,
            0.004603622481226921
        ],
        "speed": 2.9995515686306225e-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": 14.999587059020996,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -23.478124618530273,
                4291.25537109375,
                372.4775390625
            ],
            "velocity": [
                -0.0021205374505370855,
                -2.5817175810516346e-06,
                -0.5044171214103699
            ],
            "speed_kmh": 1.8159176833181012,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -87.58781433105469,
                        "y": 4301.384765625,
                        "z": 372.9459228515625
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23501314222812653,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -87.6070327758789,
                        "y": 4298.134765625,
                        "z": 372.9459228515625
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23501314222812653,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43513649702072144,
                "transform": {
                    "location": {
                        "x": 21.521093368530273,
                        "y": 4290.9892578125,
                        "z": 372.2965087890625
                    },
                    "rotation": {
                        "roll": 0.00043401645962148905,
                        "pitch": 0.27310508489608765,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.001966088777408004,
                    "y": 9.34523359319428e-06,
                    "z": -0.43513205647468567
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6362441778182983,
                "transform": {
                    "location": {
                        "x": 6.521015644073486,
                        "y": 4291.078125,
                        "z": 372.3824462890625
                    },
                    "rotation": {
                        "roll": 0.0004818566085305065,
                        "pitch": 0.26365211606025696,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": -0.0029730398673564196,
                    "y": 8.878352673491463e-05,
                    "z": -0.6362372040748596
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.504421591758728,
                "transform": {
                    "location": {
                        "x": -23.478124618530273,
                        "y": 4291.25537109375,
                        "z": 372.4775390625
                    },
                    "rotation": {
                        "roll": 0.0005027608713135123,
                        "pitch": 0.24115347862243652,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": -0.0021205374505370855,
                    "y": -2.5817175810516346e-06,
                    "z": -0.5044171214103699
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5038925409317017,
                "transform": {
                    "location": {
                        "x": -38.47789001464844,
                        "y": 4291.34423828125,
                        "z": 372.5402526855469
                    },
                    "rotation": {
                        "roll": 0.000762019888497889,
                        "pitch": 0.2391522377729416,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.002092059701681137,
                    "y": -2.7062598746852018e-05,
                    "z": -0.5038881897926331
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.41446763277053833,
                "transform": {
                    "location": {
                        "x": 21.540390014648438,
                        "y": 4294.2392578125,
                        "z": 372.27764892578125
                    },
                    "rotation": {
                        "roll": 5.9565390984062105e-05,
                        "pitch": 0.27149316668510437,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.0019413369009271264,
                    "y": 9.360680996906012e-05,
                    "z": -0.414463073015213
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4345903992652893,
                "transform": {
                    "location": {
                        "x": 6.540546894073486,
                        "y": 4294.328125,
                        "z": 372.3664245605469
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": 0.2634335458278656,
                        "yaw": 179.6613006591797
                    }
                },
                "velocity": {
                    "x": -0.0020376169122755527,
                    "y": -5.4709631513105705e-05,
                    "z": -0.4345856308937073
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4346223473548889,
                "transform": {
                    "location": {
                        "x": -23.458906173706055,
                        "y": 4294.50537109375,
                        "z": 372.498046875
                    },
                    "rotation": {
                        "roll": 0.0004313784302212298,
                        "pitch": 0.24396751821041107,
                        "yaw": 179.66122436523438
                    }
                },
                "velocity": {
                    "x": -0.0017379863420501351,
                    "y": 5.55941769562196e-05,
                    "z": -0.43461886048316956
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45484766364097595,
                "transform": {
                    "location": {
                        "x": -38.45867156982422,
                        "y": 4294.59423828125,
                        "z": 372.54925537109375
                    },
                    "rotation": {
                        "roll": -9.155279258266091e-05,
                        "pitch": 0.23794329166412354,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.0018916120752692223,
                    "y": -8.686878913977125e-07,
                    "z": -0.4548437297344208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0018970172386616468,
        "expert_target_speed": 1.01100833109403,
        "target_point": [
            50.99916373259374,
            -0.00040785361772149864
        ],
        "target_point_next": [
            101.99917238163903,
            -0.00032242483029754077
        ]
    },
    "10": {
        "acceleration": [
            -5.080252594780177e-05,
            0.002769793150946498,
            -0.002617398276925087
        ],
        "angular_velocity": [
            0.006029331590980291,
            -0.0034315844532102346,
            3.471796298981644e-05
        ],
        "forward_vector": [
            -0.9999724626541138,
            0.005909261293709278,
            0.004492148291319609
        ],
        "right_vector": [
            -0.005909224972128868,
            -0.9999825358390808,
            2.1305066184140742e-05
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.4216613769531
        ],
        "rotation": [
            -0.0012207026593387127,
            0.25738200545310974,
            179.6614227294922
        ],
        "velocity": [
            4.362277650216129e-06,
            -6.94897471475997e-06,
            0.0015488823410123587
        ],
        "speed": 8.204737404935551e-06,
        "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": 14.999556541442871,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -23.478124618530273,
                4291.25537109375,
                372.46905517578125
            ],
            "velocity": [
                0.00044389528920874,
                -2.516975291655399e-05,
                0.10291092842817307
            ],
            "speed_kmh": 0.37048279985681754,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -85.51429748535156,
                        "y": 4301.37255859375,
                        "z": 372.765380859375
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23501314222812653,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -85.53351593017578,
                        "y": 4298.12255859375,
                        "z": 372.765380859375
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23501314222812653,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02777613140642643,
                "transform": {
                    "location": {
                        "x": 21.521093368530273,
                        "y": 4290.9892578125,
                        "z": 372.2723083496094
                    },
                    "rotation": {
                        "roll": 0.00013140520604792982,
                        "pitch": 0.2749629020690918,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0001464733068132773,
                    "y": 0.00012918234278913587,
                    "z": 0.027775444090366364
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.06108631193637848,
                "transform": {
                    "location": {
                        "x": 6.521015644073486,
                        "y": 4291.078125,
                        "z": 372.3260498046875
                    },
                    "rotation": {
                        "roll": 0.0011009867303073406,
                        "pitch": 0.2644580900669098,
                        "yaw": 179.66253662109375
                    }
                },
                "velocity": {
                    "x": 0.000299151724902913,
                    "y": -4.548394372250186e-06,
                    "z": 0.06108558177947998
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.10291188955307007,
                "transform": {
                    "location": {
                        "x": -23.478124618530273,
                        "y": 4291.25537109375,
                        "z": 372.46905517578125
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": 0.24111932516098022,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.00044389528920874,
                    "y": -2.516975291655399e-05,
                    "z": 0.10291092842817307
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.1025838851928711,
                "transform": {
                    "location": {
                        "x": -38.47789001464844,
                        "y": 4291.34423828125,
                        "z": 372.5318298339844
                    },
                    "rotation": {
                        "roll": 0.0005590745131485164,
                        "pitch": 0.23937763273715973,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.00043659491348080337,
                    "y": -5.4309719416778535e-05,
                    "z": 0.10258293896913528
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0513073094189167,
                "transform": {
                    "location": {
                        "x": 21.540390014648438,
                        "y": 4294.2392578125,
                        "z": 372.2688903808594
                    },
                    "rotation": {
                        "roll": 9.95925729512237e-05,
                        "pitch": 0.2715136706829071,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0002579904394224286,
                    "y": 4.113734030397609e-05,
                    "z": 0.051306646317243576
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02759953960776329,
                "transform": {
                    "location": {
                        "x": 6.540546894073486,
                        "y": 4294.328125,
                        "z": 372.34228515625
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": 0.2653733193874359,
                        "yaw": 179.6613006591797
                    }
                },
                "velocity": {
                    "x": 0.00015842451830394566,
                    "y": -0.00016695554950274527,
                    "z": 0.027598580345511436
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.027684258297085762,
                "transform": {
                    "location": {
                        "x": -23.458906173706055,
                        "y": 4294.50537109375,
                        "z": 372.4739074707031
                    },
                    "rotation": {
                        "roll": 0.0010399193270131946,
                        "pitch": 0.2452857345342636,
                        "yaw": 179.66122436523438
                    }
                },
                "velocity": {
                    "x": 0.00014754291623830795,
                    "y": 0.00022685225121676922,
                    "z": 0.027682935819029808
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09461547434329987,
                "transform": {
                    "location": {
                        "x": -38.45867156982422,
                        "y": 4294.59423828125,
                        "z": 372.5421142578125
                    },
                    "rotation": {
                        "roll": 0.00018955589621327817,
                        "pitch": 0.23786816000938416,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.000402125675464049,
                    "y": 4.574087506625801e-05,
                    "z": 0.09461461007595062
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.00011499910760903731,
        "expert_target_speed": 1.0069856036889924,
        "target_point": [
            50.99916373259374,
            -0.00040785361772149864
        ],
        "target_point_next": [
            101.99917238163903,
            -0.00032242483029754077
        ]
    },
    "15": {
        "acceleration": [
            -0.0008680886821821332,
            0.00022608577273786068,
            0.008990297093987465
        ],
        "angular_velocity": [
            -0.0024509418290108442,
            -0.013829431496560574,
            7.652845670236275e-05
        ],
        "forward_vector": [
            -0.9999724626541138,
            0.005909261293709278,
            0.0044884528033435345
        ],
        "right_vector": [
            -0.005909244529902935,
            -0.9999825358390808,
            1.7044054402504116e-05
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.42181396484375
        ],
        "rotation": [
            -0.0009765622089616954,
            0.25717025995254517,
            179.6614227294922
        ],
        "velocity": [
            -3.395654130144976e-05,
            9.713953659229446e-06,
            0.0005451154429465532
        ],
        "speed": 3.5318657857437345e-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": 14.999612808227539,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -23.478124618530273,
                4291.25537109375,
                372.484375
            ],
            "velocity": [
                0.00010879724868573248,
                -0.000113728987344075,
                0.023504700511693954
            ],
            "speed_kmh": 0.08461881880407748,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -83.43109130859375,
                        "y": 4301.3603515625,
                        "z": 372.7493591308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -83.45030975341797,
                        "y": 4298.1103515625,
                        "z": 372.7493591308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9191165566444397,
                "transform": {
                    "location": {
                        "x": 21.450702667236328,
                        "y": 4290.9892578125,
                        "z": 372.2795104980469
                    },
                    "rotation": {
                        "roll": -0.009674072265625,
                        "pitch": 0.4965410530567169,
                        "yaw": 179.70877075195312
                    }
                },
                "velocity": {
                    "x": -0.9186638593673706,
                    "y": -0.005539909936487675,
                    "z": 0.028305338695645332
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.13964374363422394,
                "transform": {
                    "location": {
                        "x": 6.513827800750732,
                        "y": 4291.078125,
                        "z": 372.3576965332031
                    },
                    "rotation": {
                        "roll": -5.211081913203408e-11,
                        "pitch": 0.278637558221817,
                        "yaw": 179.66502380371094
                    }
                },
                "velocity": {
                    "x": -0.08198139071464539,
                    "y": -0.0009470978984609246,
                    "z": 0.11304216086864471
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.023505227640271187,
                "transform": {
                    "location": {
                        "x": -23.478124618530273,
                        "y": 4291.25537109375,
                        "z": 372.484375
                    },
                    "rotation": {
                        "roll": 0.0005260130274109542,
                        "pitch": 0.24121494591236115,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.00010879724868573248,
                    "y": -0.000113728987344075,
                    "z": 0.023504700511693954
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.023225747048854828,
                "transform": {
                    "location": {
                        "x": -38.47789001464844,
                        "y": 4291.34423828125,
                        "z": 372.5471496582031
                    },
                    "rotation": {
                        "roll": 0.0007246143650263548,
                        "pitch": 0.23943227529525757,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.00010612777987262234,
                    "y": -5.988134944345802e-05,
                    "z": 0.02322542667388916
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0726444721221924,
                "transform": {
                    "location": {
                        "x": 21.448436737060547,
                        "y": 4294.23828125,
                        "z": 372.27667236328125
                    },
                    "rotation": {
                        "roll": -0.002593993442133069,
                        "pitch": 0.33562180399894714,
                        "yaw": 179.62527465820312
                    }
                },
                "velocity": {
                    "x": -1.0723069906234741,
                    "y": -0.01008594036102295,
                    "z": 0.02494649775326252
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9301963448524475,
                "transform": {
                    "location": {
                        "x": 6.473984241485596,
                        "y": 4294.32763671875,
                        "z": 372.3495178222656
                    },
                    "rotation": {
                        "roll": -0.007568356115370989,
                        "pitch": 0.4794519245624542,
                        "yaw": 179.6610107421875
                    }
                },
                "velocity": {
                    "x": -0.9297682642936707,
                    "y": -0.004263808485120535,
                    "z": 0.027892788872122765
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9047484993934631,
                "transform": {
                    "location": {
                        "x": -23.525312423706055,
                        "y": 4294.50537109375,
                        "z": 372.4811096191406
                    },
                    "rotation": {
                        "roll": -0.006011961493641138,
                        "pitch": 0.4561541676521301,
                        "yaw": 179.7285614013672
                    }
                },
                "velocity": {
                    "x": -0.9043338298797607,
                    "y": -0.001543268677778542,
                    "z": 0.027345972135663033
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.02075790986418724,
                "transform": {
                    "location": {
                        "x": -38.45867156982422,
                        "y": 4294.59423828125,
                        "z": 372.5560607910156
                    },
                    "rotation": {
                        "roll": -3.051761450478807e-05,
                        "pitch": 0.23788180947303772,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.00010143458348466083,
                    "y": -3.494069096632302e-05,
                    "z": 0.020757632330060005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.001187988673336804,
        "expert_target_speed": 1.0058051529836027,
        "target_point": [
            50.99916373259374,
            -0.00040785361772149864
        ],
        "target_point_next": [
            101.99917238163903,
            -0.00032242483029754077
        ]
    },
    "20": {
        "acceleration": [
            0.0005251556285656989,
            0.0010471103014424443,
            0.0044233957305550575
        ],
        "angular_velocity": [
            -0.014514912851154804,
            0.00851109717041254,
            0.00012159771722508594
        ],
        "forward_vector": [
            -0.9999724626541138,
            0.00590806920081377,
            0.004482254385948181
        ],
        "right_vector": [
            -0.005908128805458546,
            -0.9999825358390808,
            -0.0
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.4219055175781
        ],
        "rotation": [
            0.0,
            0.256815105676651,
            179.66148376464844
        ],
        "velocity": [
            4.424426515470259e-05,
            4.741317025036551e-05,
            0.0017965487204492092
        ],
        "speed": 6.485031774995228e-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": 15.206644058227539,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -23.685155868530273,
                4291.2548828125,
                372.4865417480469
            ],
            "velocity": [
                -1.9522236585617065,
                -0.013972568325698376,
                0.007683820556849241
            ],
            "speed_kmh": 7.0282396138068455,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -81.34788513183594,
                        "y": 4301.34814453125,
                        "z": 372.73345947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -81.36711120605469,
                        "y": 4298.09814453125,
                        "z": 372.73345947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8186484575271606,
                "transform": {
                    "location": {
                        "x": 21.090858459472656,
                        "y": 4290.9873046875,
                        "z": 372.28424072265625
                    },
                    "rotation": {
                        "roll": -0.012573241256177425,
                        "pitch": 0.6536080837249756,
                        "yaw": 179.8009033203125
                    }
                },
                "velocity": {
                    "x": -1.818544626235962,
                    "y": -0.0104379178956151,
                    "z": 0.016391800716519356
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.758345901966095,
                "transform": {
                    "location": {
                        "x": 6.414531230926514,
                        "y": 4291.07763671875,
                        "z": 372.3687438964844
                    },
                    "rotation": {
                        "roll": -0.006591796875,
                        "pitch": 0.4051668047904968,
                        "yaw": 179.65170288085938
                    }
                },
                "velocity": {
                    "x": -0.758327305316925,
                    "y": -0.00530595937743783,
                    "z": 0.0002044772991212085
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9522888660430908,
                "transform": {
                    "location": {
                        "x": -23.685155868530273,
                        "y": 4291.2548828125,
                        "z": 372.4865417480469
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.74838256835938
                    }
                },
                "velocity": {
                    "x": -1.9522236585617065,
                    "y": -0.013972568325698376,
                    "z": 0.007683820556849241
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9748929738998413,
                "transform": {
                    "location": {
                        "x": -38.68734359741211,
                        "y": 4291.34326171875,
                        "z": 372.54925537109375
                    },
                    "rotation": {
                        "roll": 4.285724207875319e-05,
                        "pitch": 0.2790473699569702,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": -1.974836826324463,
                    "y": -0.013461309485137463,
                    "z": 0.006352128926664591
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5128943920135498,
                "transform": {
                    "location": {
                        "x": 21.160234451293945,
                        "y": 4294.2373046875,
                        "z": 372.27984619140625
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": 0.30788442492485046,
                        "yaw": 179.7781219482422
                    }
                },
                "velocity": {
                    "x": -1.5128237009048462,
                    "y": -0.011680041439831257,
                    "z": 0.008799009025096893
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.84540593624115,
                "transform": {
                    "location": {
                        "x": 6.114921569824219,
                        "y": 4294.32666015625,
                        "z": 372.35400390625
                    },
                    "rotation": {
                        "roll": -0.012969969771802425,
                        "pitch": 0.6547009348869324,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": -1.8452938795089722,
                    "y": -0.01141086034476757,
                    "z": 0.01683502085506916
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8266820907592773,
                "transform": {
                    "location": {
                        "x": -23.879764556884766,
                        "y": 4294.50390625,
                        "z": 372.48553466796875
                    },
                    "rotation": {
                        "roll": -0.012756348587572575,
                        "pitch": 0.6208915114402771,
                        "yaw": 179.8477020263672
                    }
                },
                "velocity": {
                    "x": -1.8265769481658936,
                    "y": -0.01196365524083376,
                    "z": 0.015531806275248528
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.188015937805176,
                "transform": {
                    "location": {
                        "x": -38.690467834472656,
                        "y": 4294.59326171875,
                        "z": 372.5599670410156
                    },
                    "rotation": {
                        "roll": 0.006174152251332998,
                        "pitch": 0.04867875576019287,
                        "yaw": 179.75973510742188
                    }
                },
                "velocity": {
                    "x": -2.1879310607910156,
                    "y": -0.017680589109659195,
                    "z": 0.00769087765365839
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0003450230578891933,
        "expert_target_speed": 1.0193148448560279,
        "target_point": [
            50.99916373218159,
            -0.000456490210331284
        ],
        "target_point_next": [
            101.99917238128516,
            -0.00041969882129244684
        ]
    },
    "25": {
        "acceleration": [
            0.00048039481043815613,
            0.0011663988698273897,
            0.0012106524081900716
        ],
        "angular_velocity": [
            0.00014211307279765606,
            0.0008936914964579046,
            5.6598717492306605e-05
        ],
        "forward_vector": [
            -0.9999725222587585,
            0.005908069666475058,
            0.004481181036680937
        ],
        "right_vector": [
            -0.005908116698265076,
            -0.9999825358390808,
            2.6631332730175927e-06
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.42193603515625
        ],
        "rotation": [
            -0.00015258781786542386,
            0.2567536234855652,
            179.66148376464844
        ],
        "velocity": [
            1.3638473319588229e-05,
            6.634546480199788e-06,
            0.00046815196401439607
        ],
        "speed": 1.5166580415078785e-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": 15.843107223510742,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -24.321640014648438,
                4291.251953125,
                372.4890441894531
            ],
            "velocity": [
                -2.9923055171966553,
                -0.021088402718305588,
                0.010732783935964108
            ],
            "speed_kmh": 10.772636668535236,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -79.26468658447266,
                        "y": 4301.33544921875,
                        "z": 372.7232360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -79.28390502929688,
                        "y": 4298.08544921875,
                        "z": 372.7232360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.974696636199951,
                "transform": {
                    "location": {
                        "x": 20.492733001708984,
                        "y": 4290.984375,
                        "z": 372.2878723144531
                    },
                    "rotation": {
                        "roll": -0.013397215865552425,
                        "pitch": 0.7285489439964294,
                        "yaw": 179.98468017578125
                    }
                },
                "velocity": {
                    "x": -2.9745967388153076,
                    "y": -0.01964750327169895,
                    "z": 0.014463910833001137
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8127995729446411,
                "transform": {
                    "location": {
                        "x": 6.11046838760376,
                        "y": 4291.076171875,
                        "z": 372.3647155761719
                    },
                    "rotation": {
                        "roll": -0.008209227584302425,
                        "pitch": 0.4971626102924347,
                        "yaw": 179.7430419921875
                    }
                },
                "velocity": {
                    "x": -1.8127312660217285,
                    "y": -0.010985588654875755,
                    "z": -0.011286688037216663
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.992399215698242,
                "transform": {
                    "location": {
                        "x": -24.321640014648438,
                        "y": 4291.251953125,
                        "z": 372.4890441894531
                    },
                    "rotation": {
                        "roll": 0.0006740101962350309,
                        "pitch": 0.27186882495880127,
                        "yaw": 179.90284729003906
                    }
                },
                "velocity": {
                    "x": -2.9923055171966553,
                    "y": -0.021088402718305588,
                    "z": 0.010732783935964108
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9742939472198486,
                "transform": {
                    "location": {
                        "x": -39.323123931884766,
                        "y": 4291.34033203125,
                        "z": 372.5516357421875
                    },
                    "rotation": {
                        "roll": 0.0005547068431042135,
                        "pitch": 0.26863133907318115,
                        "yaw": 179.8732452392578
                    }
                },
                "velocity": {
                    "x": -2.974198818206787,
                    "y": -0.02113390900194645,
                    "z": 0.010922985151410103
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.4567723274230957,
                "transform": {
                    "location": {
                        "x": 20.663984298706055,
                        "y": 4294.234375,
                        "z": 372.2821044921875
                    },
                    "rotation": {
                        "roll": 0.0006363526917994022,
                        "pitch": 0.3410518169403076,
                        "yaw": 179.93771362304688
                    }
                },
                "velocity": {
                    "x": -2.4566562175750732,
                    "y": -0.020940883085131645,
                    "z": 0.01150880753993988
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9852333068847656,
                "transform": {
                    "location": {
                        "x": 5.512343406677246,
                        "y": 4294.3232421875,
                        "z": 372.3576965332031
                    },
                    "rotation": {
                        "roll": -0.01336669921875,
                        "pitch": 0.7188910245895386,
                        "yaw": 179.97988891601562
                    }
                },
                "velocity": {
                    "x": -2.985133647918701,
                    "y": -0.01969112828373909,
                    "z": 0.014340238645672798
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.990513801574707,
                "transform": {
                    "location": {
                        "x": -24.481170654296875,
                        "y": 4294.50048828125,
                        "z": 372.48883056640625
                    },
                    "rotation": {
                        "roll": -0.01266479305922985,
                        "pitch": 0.7068426012992859,
                        "yaw": -179.99636840820312
                    }
                },
                "velocity": {
                    "x": -2.990415334701538,
                    "y": -0.019929077476263046,
                    "z": 0.013865623623132706
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.337153196334839,
                "transform": {
                    "location": {
                        "x": -39.39453125,
                        "y": 4294.58935546875,
                        "z": 372.5622253417969
                    },
                    "rotation": {
                        "roll": 0.004252882208675146,
                        "pitch": 0.09498060494661331,
                        "yaw": 179.95828247070312
                    }
                },
                "velocity": {
                    "x": -3.3370137214660645,
                    "y": -0.027477161958813667,
                    "z": 0.013244971632957458
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0012958832085132599,
        "expert_target_speed": 1.0402579611434768,
        "target_point": [
            50.99916373218159,
            -0.000456490210331284
        ],
        "target_point_next": [
            101.99917238128516,
            -0.00041969882129244684
        ]
    },
    "30": {
        "acceleration": [
            0.00046963838394731283,
            -0.0012712294701486826,
            0.006725522689521313
        ],
        "angular_velocity": [
            0.004404861479997635,
            0.0012238216586411,
            4.077644189237617e-05
        ],
        "forward_vector": [
            -0.9999725222587585,
            0.005908069666475058,
            0.004481181036680937
        ],
        "right_vector": [
            -0.005908116698265076,
            -0.9999825358390808,
            2.6631332730175927e-06
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.42193603515625
        ],
        "rotation": [
            -0.00015258781786542386,
            0.2567536234855652,
            179.66148376464844
        ],
        "velocity": [
            1.996315950236749e-05,
            -1.2233194865984842e-05,
            0.0016667027957737446
        ],
        "speed": 2.3413218359425157e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.690031051635742,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -25.16859245300293,
                4291.2470703125,
                372.49261474609375
            ],
            "velocity": [
                -3.7465689182281494,
                -0.029217883944511414,
                0.014546489343047142
            ],
            "speed_kmh": 13.488159901035216,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.950904846191406,
                "transform": {
                    "location": {
                        "x": -77.22406005859375,
                        "y": 4301.32373046875,
                        "z": 372.7142639160156
                    },
                    "rotation": {
                        "roll": -0.003326416015625,
                        "pitch": -0.3820192813873291,
                        "yaw": -0.328094482421875
                    }
                },
                "velocity": {
                    "x": 6.950743198394775,
                    "y": -0.0341501384973526,
                    "z": -0.032777704298496246
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.639367580413818,
                "transform": {
                    "location": {
                        "x": -77.32390594482422,
                        "y": 4298.0751953125,
                        "z": 372.71429443359375
                    },
                    "rotation": {
                        "roll": -0.013122557662427425,
                        "pitch": -0.4744522273540497,
                        "yaw": -0.2748717963695526
                    }
                },
                "velocity": {
                    "x": 6.639278411865234,
                    "y": -0.010357456281781197,
                    "z": -0.03282229229807854
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.38419246673584,
                "transform": {
                    "location": {
                        "x": 19.560468673706055,
                        "y": 4290.978515625,
                        "z": 372.29193115234375
                    },
                    "rotation": {
                        "roll": -0.012786864303052425,
                        "pitch": 0.849101722240448,
                        "yaw": -179.8249969482422
                    }
                },
                "velocity": {
                    "x": -4.3840250968933105,
                    "y": -0.032364897429943085,
                    "z": 0.020523756742477417
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.1824347972869873,
                "transform": {
                    "location": {
                        "x": 5.486640453338623,
                        "y": 4291.07373046875,
                        "z": 372.36456298828125
                    },
                    "rotation": {
                        "roll": -0.010162349790334702,
                        "pitch": 0.5835235118865967,
                        "yaw": 179.958251953125
                    }
                },
                "velocity": {
                    "x": -3.1823272705078125,
                    "y": -0.0221551526337862,
                    "z": 0.013872985728085041
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.746711015701294,
                "transform": {
                    "location": {
                        "x": -25.16859245300293,
                        "y": 4291.2470703125,
                        "z": 372.49261474609375
                    },
                    "rotation": {
                        "roll": 0.0014148375485092402,
                        "pitch": 0.26048973202705383,
                        "yaw": -179.909423828125
                    }
                },
                "velocity": {
                    "x": -3.7465689182281494,
                    "y": -0.029217883944511414,
                    "z": 0.014546489343047142
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.742157220840454,
                "transform": {
                    "location": {
                        "x": -40.168983459472656,
                        "y": 4291.3359375,
                        "z": 372.5552673339844
                    },
                    "rotation": {
                        "roll": 0.0013725506141781807,
                        "pitch": 0.258392870426178,
                        "yaw": -179.92176818847656
                    }
                },
                "velocity": {
                    "x": -3.7420170307159424,
                    "y": -0.029144970700144768,
                    "z": 0.014110221527516842
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.143682479858398,
                "transform": {
                    "location": {
                        "x": 19.839921951293945,
                        "y": 4294.228515625,
                        "z": 372.2857666015625
                    },
                    "rotation": {
                        "roll": 0.0007330179796554148,
                        "pitch": 0.36999133229255676,
                        "yaw": -179.9777069091797
                    }
                },
                "velocity": {
                    "x": -4.143509387969971,
                    "y": -0.03262218087911606,
                    "z": 0.019206952303647995
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.3850932121276855,
                "transform": {
                    "location": {
                        "x": 4.578906059265137,
                        "y": 4294.3173828125,
                        "z": 372.3616027832031
                    },
                    "rotation": {
                        "roll": -0.01385497860610485,
                        "pitch": 0.8366844654083252,
                        "yaw": -179.82546997070312
                    }
                },
                "velocity": {
                    "x": -4.384929180145264,
                    "y": -0.03226296231150627,
                    "z": 0.01994500122964382
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.399281978607178,
                "transform": {
                    "location": {
                        "x": -25.417499542236328,
                        "y": 4294.49462890625,
                        "z": 372.49249267578125
                    },
                    "rotation": {
                        "roll": -0.011688232421875,
                        "pitch": 0.8218356370925903,
                        "yaw": -179.8093719482422
                    }
                },
                "velocity": {
                    "x": -4.399125099182129,
                    "y": -0.03247249126434326,
                    "z": 0.018012991175055504
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.4639153480529785,
                "transform": {
                    "location": {
                        "x": -40.37507629394531,
                        "y": 4294.58251953125,
                        "z": 372.5660400390625
                    },
                    "rotation": {
                        "roll": 0.004818764515221119,
                        "pitch": 0.12168664485216141,
                        "yaw": -179.84144592285156
                    }
                },
                "velocity": {
                    "x": -4.463717460632324,
                    "y": -0.03764379024505615,
                    "z": 0.01862511597573757
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0009571652626618743,
        "expert_target_speed": 1.0644087541737774,
        "target_point": [
            50.99916373218159,
            -0.000456490210331284
        ],
        "target_point_next": [
            101.99917238128516,
            -0.00041969882129244684
        ]
    },
    "35": {
        "acceleration": [
            -2.0134313106536865,
            0.008165668696165085,
            0.016859684139490128
        ],
        "angular_velocity": [
            -0.022059720009565353,
            0.615189790725708,
            -0.012207902036607265
        ],
        "forward_vector": [
            -0.9999719858169556,
            0.005912357941269875,
            0.004588110372424126
        ],
        "right_vector": [
            -0.0059123835526406765,
            -0.9999825358390808,
            7.989398909558076e-06
        ],
        "location": [
            -8.479999542236328,
            4291.16650390625,
            372.4219055175781
        ],
        "rotation": [
            -0.00045776370097883046,
            0.2628802955150604,
            179.66123962402344
        ],
        "velocity": [
            -0.10066060721874237,
            0.0004126009880565107,
            0.0012031077640131116
        ],
        "speed": 0.10066145282689533,
        "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": 17.719688415527344,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -26.19937515258789,
                4291.24072265625,
                372.4969177246094
            ],
            "velocity": [
                -4.4749531745910645,
                -0.014504791237413883,
                0.017787236720323563
            ],
            "speed_kmh": 16.11004331640544,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.638293743133545,
                "transform": {
                    "location": {
                        "x": -75.53687286376953,
                        "y": 4301.328125,
                        "z": 372.7063903808594
                    },
                    "rotation": {
                        "roll": -0.02688598819077015,
                        "pitch": -0.3368239402770996,
                        "yaw": 0.17141982913017273
                    }
                },
                "velocity": {
                    "x": 6.638092994689941,
                    "y": 0.04248863458633423,
                    "z": -0.029378555715084076
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.856026649475098,
                "transform": {
                    "location": {
                        "x": -75.63429260253906,
                        "y": 4298.08154296875,
                        "z": 372.7066955566406
                    },
                    "rotation": {
                        "roll": -0.02471923828125,
                        "pitch": -0.30649104714393616,
                        "yaw": 0.2229185402393341
                    }
                },
                "velocity": {
                    "x": 6.855806827545166,
                    "y": 0.04583001509308815,
                    "z": -0.03028230555355549
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.350866794586182,
                "transform": {
                    "location": {
                        "x": 18.307031631469727,
                        "y": 4290.97314453125,
                        "z": 372.29840087890625
                    },
                    "rotation": {
                        "roll": 0.019159168004989624,
                        "pitch": 0.8081411123275757,
                        "yaw": -179.7860870361328
                    }
                },
                "velocity": {
                    "x": -5.350795269012451,
                    "y": -0.010704904794692993,
                    "z": 0.025494661182165146
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.242876052856445,
                "transform": {
                    "location": {
                        "x": 4.419687271118164,
                        "y": 4291.0673828125,
                        "z": 372.3689880371094
                    },
                    "rotation": {
                        "roll": -0.008453369140625,
                        "pitch": 0.7262676358222961,
                        "yaw": -179.83584594726562
                    }
                },
                "velocity": {
                    "x": -5.242641448974609,
                    "y": -0.03998616337776184,
                    "z": 0.029405441135168076
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.475011825561523,
                "transform": {
                    "location": {
                        "x": -26.19937515258789,
                        "y": 4291.24072265625,
                        "z": 372.4969177246094
                    },
                    "rotation": {
                        "roll": 0.0026666896883398294,
                        "pitch": 0.25738200545310974,
                        "yaw": -179.76063537597656
                    }
                },
                "velocity": {
                    "x": -4.4749531745910645,
                    "y": -0.014504791237413883,
                    "z": 0.017787236720323563
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.470279693603516,
                "transform": {
                    "location": {
                        "x": -41.19866943359375,
                        "y": 4291.32958984375,
                        "z": 372.5594787597656
                    },
                    "rotation": {
                        "roll": 0.003032536944374442,
                        "pitch": 0.25557199120521545,
                        "yaw": -179.768310546875
                    }
                },
                "velocity": {
                    "x": -4.470218181610107,
                    "y": -0.014741684310138226,
                    "z": 0.018258504569530487
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.086039066314697,
                "transform": {
                    "location": {
                        "x": 18.61585807800293,
                        "y": 4294.22265625,
                        "z": 372.2915954589844
                    },
                    "rotation": {
                        "roll": 0.007348785176873207,
                        "pitch": 0.35373547673225403,
                        "yaw": -179.80992126464844
                    }
                },
                "velocity": {
                    "x": -5.085973262786865,
                    "y": -0.009686551056802273,
                    "z": 0.024012498557567596
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.290445804595947,
                "transform": {
                    "location": {
                        "x": 3.329531192779541,
                        "y": 4294.31201171875,
                        "z": 372.3677673339844
                    },
                    "rotation": {
                        "roll": 0.018125517293810844,
                        "pitch": 0.7827669382095337,
                        "yaw": -179.80624389648438
                    }
                },
                "velocity": {
                    "x": -5.2903733253479,
                    "y": -0.010452523827552795,
                    "z": 0.025628557428717613
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.462573051452637,
                "transform": {
                    "location": {
                        "x": -26.675390243530273,
                        "y": 4294.48876953125,
                        "z": 372.4981689453125
                    },
                    "rotation": {
                        "roll": 0.021861786022782326,
                        "pitch": 0.786769449710846,
                        "yaw": -179.83670043945312
                    }
                },
                "velocity": {
                    "x": -5.462510108947754,
                    "y": -0.010056535713374615,
                    "z": 0.02423141337931156
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.302968978881836,
                "transform": {
                    "location": {
                        "x": -41.62125015258789,
                        "y": 4294.57763671875,
                        "z": 372.5713195800781
                    },
                    "rotation": {
                        "roll": -0.003997801803052425,
                        "pitch": 0.1465895175933838,
                        "yaw": -179.82676696777344
                    }
                },
                "velocity": {
                    "x": -5.302912712097168,
                    "y": -0.006480132229626179,
                    "z": 0.023546867072582245
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.000356977921910584,
        "expert_target_speed": 1.1843251976185112,
        "target_point": [
            50.99806988822596,
            -0.000268410526609586
        ],
        "target_point_next": [
            101.99807853681811,
            -3.706954403082108e-05
        ]
    },
    "40": {
        "acceleration": [
            -4.499533176422119,
            0.03209620714187622,
            0.04357051104307175
        ],
        "angular_velocity": [
            -0.024754418060183525,
            0.592336118221283,
            0.6231651306152344
        ],
        "forward_vector": [
            -0.999932050704956,
            0.0060363346710801125,
            0.00997383613139391
        ],
        "right_vector": [
            -0.006036443170160055,
            -0.9999817609786987,
            1.9173805412719958e-05
        ],
        "location": [
            -8.690312385559082,
            4291.1669921875,
            372.4217529296875
        ],
        "rotation": [
            -0.0010986326960846782,
            0.5714682340621948,
            179.6541290283203
        ],
        "velocity": [
            -1.3034874200820923,
            0.0054443394765257835,
            0.006494931876659393
        ],
        "speed": 1.3034987898516073,
        "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": 18.728979110717773,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -27.418983459472656,
                4291.23779296875,
                372.5021667480469
            ],
            "velocity": [
                -5.265254974365234,
                -0.00757700065150857,
                0.024214811623096466
            ],
            "speed_kmh": 18.955137987416972,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.855410575866699,
                "transform": {
                    "location": {
                        "x": -73.84859466552734,
                        "y": 4301.33447265625,
                        "z": 372.6993408203125
                    },
                    "rotation": {
                        "roll": -0.0036926271859556437,
                        "pitch": -0.2569243907928467,
                        "yaw": 0.20637454092502594
                    }
                },
                "velocity": {
                    "x": 6.855309963226318,
                    "y": 0.022734012454748154,
                    "z": -0.029453620314598083
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.632073879241943,
                "transform": {
                    "location": {
                        "x": -73.94945526123047,
                        "y": 4298.087890625,
                        "z": 372.6996765136719
                    },
                    "rotation": {
                        "roll": -0.0025024411734193563,
                        "pitch": -0.2570131719112396,
                        "yaw": 0.209806427359581
                    }
                },
                "velocity": {
                    "x": 6.631982326507568,
                    "y": 0.020622439682483673,
                    "z": -0.02807379700243473
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.141091346740723,
                "transform": {
                    "location": {
                        "x": 16.936874389648438,
                        "y": 4290.97119140625,
                        "z": 372.305419921875
                    },
                    "rotation": {
                        "roll": 0.011368518695235252,
                        "pitch": 0.6388548612594604,
                        "yaw": -179.8355712890625
                    }
                },
                "velocity": {
                    "x": -6.141019821166992,
                    "y": -0.010273562744259834,
                    "z": 0.027754897251725197
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.317425727844238,
                "transform": {
                    "location": {
                        "x": 3.20367169380188,
                        "y": 4291.05322265625,
                        "z": 372.3786315917969
                    },
                    "rotation": {
                        "roll": 0.07640904933214188,
                        "pitch": 0.24585264921188354,
                        "yaw": 178.51535034179688
                    }
                },
                "velocity": {
                    "x": -4.31719446182251,
                    "y": 0.04008841514587402,
                    "z": 0.019682712852954865
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.265316009521484,
                "transform": {
                    "location": {
                        "x": -27.418983459472656,
                        "y": 4291.23779296875,
                        "z": 372.5021667480469
                    },
                    "rotation": {
                        "roll": 0.0038223564624786377,
                        "pitch": 0.2578805983066559,
                        "yaw": -179.8299102783203
                    }
                },
                "velocity": {
                    "x": -5.265254974365234,
                    "y": -0.00757700065150857,
                    "z": 0.024214811623096466
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.224791526794434,
                "transform": {
                    "location": {
                        "x": -42.416561126708984,
                        "y": 4291.32666015625,
                        "z": 372.56475830078125
                    },
                    "rotation": {
                        "roll": 0.002789601217955351,
                        "pitch": 0.25758689641952515,
                        "yaw": -179.8362274169922
                    }
                },
                "velocity": {
                    "x": -5.224730491638184,
                    "y": -0.00783976074308157,
                    "z": 0.02401530183851719
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.414605140686035,
                "transform": {
                    "location": {
                        "x": 17.014999389648438,
                        "y": 4294.2197265625,
                        "z": 372.298828125
                    },
                    "rotation": {
                        "roll": 0.0036785397678613663,
                        "pitch": 0.40543317794799805,
                        "yaw": -179.89935302734375
                    }
                },
                "velocity": {
                    "x": -7.414520740509033,
                    "y": -0.008137323893606663,
                    "z": 0.03451983258128166
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.201106548309326,
                "transform": {
                    "location": {
                        "x": 1.9642187356948853,
                        "y": 4294.31005859375,
                        "z": 372.37445068359375
                    },
                    "rotation": {
                        "roll": 0.011175465770065784,
                        "pitch": 0.6428437232971191,
                        "yaw": -179.86570739746094
                    }
                },
                "velocity": {
                    "x": -6.201037406921387,
                    "y": -0.008919312618672848,
                    "z": 0.027916572988033295
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.273923397064209,
                "transform": {
                    "location": {
                        "x": -28.073593139648438,
                        "y": 4294.48681640625,
                        "z": 372.5046081542969
                    },
                    "rotation": {
                        "roll": 0.015036748722195625,
                        "pitch": 0.6385133862495422,
                        "yaw": -179.9083709716797
                    }
                },
                "velocity": {
                    "x": -6.27386474609375,
                    "y": -0.00883258506655693,
                    "z": 0.025762729346752167
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.775814056396484,
                "transform": {
                    "location": {
                        "x": -42.994529724121094,
                        "y": 4294.5751953125,
                        "z": 372.5767517089844
                    },
                    "rotation": {
                        "roll": 0.0004346648056525737,
                        "pitch": 0.1774141490459442,
                        "yaw": -179.8946533203125
                    }
                },
                "velocity": {
                    "x": -5.775766849517822,
                    "y": -0.007139743305742741,
                    "z": 0.022258156910538673
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.000466421915916726,
        "expert_target_speed": 2.393005314018808,
        "target_point": [
            50.78775756750188,
            0.005297303689173527
        ],
        "target_point_next": [
            101.78776579233501,
            0.01187582514277341
        ]
    },
    "45": {
        "acceleration": [
            -3.846721649169922,
            0.008504707366228104,
            0.022455211728811264
        ],
        "angular_velocity": [
            -0.05155128985643387,
            0.1429114192724228,
            -0.5983256101608276
        ],
        "forward_vector": [
            -0.9999212622642517,
            0.006096586585044861,
            0.01096691470593214
        ],
        "right_vector": [
            -0.006096795201301575,
            -0.9999814033508301,
            1.4380203538166825e-05
        ],
        "location": [
            -9.13124942779541,
            4291.16845703125,
            372.4234619140625
        ],
        "rotation": [
            -0.0008239745511673391,
            0.6283705234527588,
            179.65066528320312
        ],
        "velocity": [
            -2.1765661239624023,
            0.00844031386077404,
            0.008738689124584198
        ],
        "speed": 2.1765824888753436,
        "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": 19.641233444213867,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -28.772186279296875,
                4291.2353515625,
                372.5079650878906
            ],
            "velocity": [
                -5.75478982925415,
                -0.007246631663292646,
                0.02182786911725998
            ],
            "speed_kmh": 20.717408837294848,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.768359661102295,
                "transform": {
                    "location": {
                        "x": -72.27734375,
                        "y": 4301.3388671875,
                        "z": 372.6927185058594
                    },
                    "rotation": {
                        "roll": -0.0017089840257540345,
                        "pitch": -0.36391928791999817,
                        "yaw": 0.17157797515392303
                    }
                },
                "velocity": {
                    "x": 5.768282413482666,
                    "y": 0.016586804762482643,
                    "z": -0.02474510669708252
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.719130039215088,
                "transform": {
                    "location": {
                        "x": -72.42788696289062,
                        "y": 4298.09228515625,
                        "z": 372.6932678222656
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": -0.353878915309906,
                        "yaw": 0.14153912663459778
                    }
                },
                "velocity": {
                    "x": 5.719062328338623,
                    "y": 0.013561297208070755,
                    "z": -0.0244206041097641
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.936136722564697,
                "transform": {
                    "location": {
                        "x": 15.442265510559082,
                        "y": 4290.96826171875,
                        "z": 372.31365966796875
                    },
                    "rotation": {
                        "roll": 0.007966764271259308,
                        "pitch": 0.27699148654937744,
                        "yaw": 179.8933563232422
                    }
                },
                "velocity": {
                    "x": -4.936071395874023,
                    "y": -0.009048707783222198,
                    "z": 0.023704366758465767
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6112657785415649,
                "transform": {
                    "location": {
                        "x": 2.506093740463257,
                        "y": 4291.04638671875,
                        "z": 372.3874816894531
                    },
                    "rotation": {
                        "roll": 0.0588911697268486,
                        "pitch": -0.464999258518219,
                        "yaw": 176.80946350097656
                    }
                },
                "velocity": {
                    "x": -0.6111699342727661,
                    "y": -0.010517943650484085,
                    "z": 0.0025627994909882545
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.754836082458496,
                "transform": {
                    "location": {
                        "x": -28.772186279296875,
                        "y": 4291.2353515625,
                        "z": 372.5079650878906
                    },
                    "rotation": {
                        "roll": 0.0010424727806821465,
                        "pitch": 0.2529287338256836,
                        "yaw": -179.90025329589844
                    }
                },
                "velocity": {
                    "x": -5.75478982925415,
                    "y": -0.007246631663292646,
                    "z": 0.02182786911725998
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.797680854797363,
                "transform": {
                    "location": {
                        "x": -43.768436431884766,
                        "y": 4291.32421875,
                        "z": 372.57049560546875
                    },
                    "rotation": {
                        "roll": 0.003774934448301792,
                        "pitch": 0.25338634848594666,
                        "yaw": -179.89739990234375
                    }
                },
                "velocity": {
                    "x": -5.797632694244385,
                    "y": -0.007417149376124144,
                    "z": 0.022433700039982796
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.010891914367676,
                "transform": {
                    "location": {
                        "x": 15.184764862060547,
                        "y": 4294.21826171875,
                        "z": 372.3083190917969
                    },
                    "rotation": {
                        "roll": 0.0017677011201158166,
                        "pitch": 0.283008873462677,
                        "yaw": -179.92974853515625
                    }
                },
                "velocity": {
                    "x": -7.010807514190674,
                    "y": -0.008647775277495384,
                    "z": 0.03333677351474762
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.615848541259766,
                "transform": {
                    "location": {
                        "x": 0.23156249523162842,
                        "y": 4294.3076171875,
                        "z": 372.3814697265625
                    },
                    "rotation": {
                        "roll": 0.006315072998404503,
                        "pitch": 0.8487944006919861,
                        "yaw": -179.90432739257812
                    }
                },
                "velocity": {
                    "x": -7.6157684326171875,
                    "y": -0.01015130989253521,
                    "z": 0.033466584980487823
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.690252304077148,
                "transform": {
                    "location": {
                        "x": -29.823593139648438,
                        "y": 4294.484375,
                        "z": 372.51116943359375
                    },
                    "rotation": {
                        "roll": 0.006964279804378748,
                        "pitch": 0.8229284882545471,
                        "yaw": -179.91790771484375
                    }
                },
                "velocity": {
                    "x": -7.690186023712158,
                    "y": -0.009020163677632809,
                    "z": 0.030634192749857903
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.060855865478516,
                "transform": {
                    "location": {
                        "x": -44.55281066894531,
                        "y": 4294.5732421875,
                        "z": 372.583740234375
                    },
                    "rotation": {
                        "roll": 0.0025013526901602745,
                        "pitch": 0.10718615353107452,
                        "yaw": -179.9159698486328
                    }
                },
                "velocity": {
                    "x": -7.060789585113525,
                    "y": -0.007560666650533676,
                    "z": 0.029603976756334305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0013397744623944163,
        "expert_target_speed": 3.2663274749928664,
        "target_point": [
            50.34681937557615,
            0.007149440789512018
        ],
        "target_point_next": [
            101.34682710850866,
            0.016816437000925166
        ]
    },
    "50": {
        "acceleration": [
            -5.967950820922852,
            -0.2790345549583435,
            0.012956429272890091
        ],
        "angular_velocity": [
            -0.21321681141853333,
            0.6643754243850708,
            1.3981211185455322
        ],
        "forward_vector": [
            -0.9999058246612549,
            0.003877445124089718,
            0.01316616591066122
        ],
        "right_vector": [
            -0.0038718830328434706,
            -0.9999923706054688,
            0.0004479047784116119
        ],
        "location": [
            -9.83968734741211,
            4291.16943359375,
            372.4261779785156
        ],
        "rotation": [
            -0.0256652794778347,
            0.7543874979019165,
            179.77781677246094
        ],
        "velocity": [
            -3.5014519691467285,
            -0.01613892801105976,
            0.014830932021141052
        ],
        "speed": 3.5014891628047127,
        "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": 20.460758209228516,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -30.300155639648438,
                4291.2333984375,
                372.51422119140625
            ],
            "velocity": [
                -6.607210159301758,
                -0.008237938396632671,
                0.026669682934880257
            ],
            "speed_kmh": 23.786168832188427,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.9960808753967285,
                "transform": {
                    "location": {
                        "x": -70.83280944824219,
                        "y": 4301.34326171875,
                        "z": 372.6869201660156
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": -0.245087668299675,
                        "yaw": 0.1638748049736023
                    }
                },
                "velocity": {
                    "x": 5.996001243591309,
                    "y": 0.016838425770401955,
                    "z": -0.02594742737710476
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.932385444641113,
                "transform": {
                    "location": {
                        "x": -70.97359466552734,
                        "y": 4298.09619140625,
                        "z": 372.6874084472656
                    },
                    "rotation": {
                        "roll": -0.0015258786734193563,
                        "pitch": -0.23590105772018433,
                        "yaw": 0.13013824820518494
                    }
                },
                "velocity": {
                    "x": 5.932314395904541,
                    "y": 0.01253261137753725,
                    "z": -0.026168402284383774
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.004014842212200165,
                "transform": {
                    "location": {
                        "x": 14.952187538146973,
                        "y": 4290.9619140625,
                        "z": 372.32135009765625
                    },
                    "rotation": {
                        "roll": 0.036524299532175064,
                        "pitch": -1.226162314414978,
                        "yaw": 179.04527282714844
                    }
                },
                "velocity": {
                    "x": -0.0008635926060378551,
                    "y": -0.0037002405151724815,
                    "z": -0.0012966830981895328
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.447388231754303,
                "transform": {
                    "location": {
                        "x": 2.4710936546325684,
                        "y": 4291.0458984375,
                        "z": 372.3852233886719
                    },
                    "rotation": {
                        "roll": 0.01738593727350235,
                        "pitch": -0.1769701987504959,
                        "yaw": 176.79283142089844
                    }
                },
                "velocity": {
                    "x": -0.447324275970459,
                    "y": 0.007234780117869377,
                    "z": 0.0022072887513786554
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.607269287109375,
                "transform": {
                    "location": {
                        "x": -30.300155639648438,
                        "y": 4291.2333984375,
                        "z": 372.51422119140625
                    },
                    "rotation": {
                        "roll": 0.003305925289168954,
                        "pitch": 0.2573000490665436,
                        "yaw": -179.92449951171875
                    }
                },
                "velocity": {
                    "x": -6.607210159301758,
                    "y": -0.008237938396632671,
                    "z": 0.026669682934880257
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.557745933532715,
                "transform": {
                    "location": {
                        "x": -45.295780181884766,
                        "y": 4291.322265625,
                        "z": 372.5767517089844
                    },
                    "rotation": {
                        "roll": 0.003318001050502062,
                        "pitch": 0.2556608021259308,
                        "yaw": -179.8960723876953
                    }
                },
                "velocity": {
                    "x": -6.557688236236572,
                    "y": -0.008540614508092403,
                    "z": 0.02611277438700199
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.980311870574951,
                "transform": {
                    "location": {
                        "x": 13.46718692779541,
                        "y": 4294.21728515625,
                        "z": 372.31640625
                    },
                    "rotation": {
                        "roll": 0.004855637904256582,
                        "pitch": 0.26989489793777466,
                        "yaw": -179.98703002929688
                    }
                },
                "velocity": {
                    "x": -6.980225563049316,
                    "y": 0.01359438244253397,
                    "z": 0.031910065561532974
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.686491966247559,
                "transform": {
                    "location": {
                        "x": -1.790468692779541,
                        "y": 4294.306640625,
                        "z": 372.3907775878906
                    },
                    "rotation": {
                        "roll": 0.0234189722687006,
                        "pitch": 0.7568942308425903,
                        "yaw": -179.97512817382812
                    }
                },
                "velocity": {
                    "x": -8.686400413513184,
                    "y": 0.010084051638841629,
                    "z": 0.038621243089437485
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.5639967918396,
                "transform": {
                    "location": {
                        "x": -31.785858154296875,
                        "y": 4294.48388671875,
                        "z": 372.5204162597656
                    },
                    "rotation": {
                        "roll": 0.020487014204263687,
                        "pitch": 0.4955165386199951,
                        "yaw": -179.97804260253906
                    }
                },
                "velocity": {
                    "x": -7.563923358917236,
                    "y": 0.007454670500010252,
                    "z": 0.032531946897506714
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.9782328605651855,
                "transform": {
                    "location": {
                        "x": -46.340389251708984,
                        "y": 4294.5712890625,
                        "z": 372.59027099609375
                    },
                    "rotation": {
                        "roll": -0.0022888181265443563,
                        "pitch": 0.21855920553207397,
                        "yaw": -179.9514617919922
                    }
                },
                "velocity": {
                    "x": -6.978159427642822,
                    "y": 0.011629394255578518,
                    "z": 0.029804782941937447
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.009867495857179165,
        "expert_target_speed": 4.5645848904789865,
        "target_point": [
            49.638274886082144,
            -0.10635064998721738
        ],
        "target_point_next": [
            100.63817848837331,
            -0.20986280869070034
        ]
    },
    "55": {
        "acceleration": [
            -4.071197509765625,
            -0.28760939836502075,
            0.006788037717342377
        ],
        "angular_velocity": [
            -0.04411908611655235,
            -0.21637001633644104,
            2.718585252761841
        ],
        "forward_vector": [
            -0.9998852610588074,
            -0.006078486796468496,
            0.013874323107302189
        ],
        "right_vector": [
            0.006097157020121813,
            -0.9999805688858032,
            0.0013037577737122774
        ],
        "location": [
            -10.87734317779541,
            4291.15625,
            372.4305419921875
        ],
        "rotation": [
            -0.07470703125,
            0.7949656844139099,
            -179.6516876220703
        ],
        "velocity": [
            -4.671647548675537,
            -0.09509065747261047,
            0.019119776785373688
        ],
        "speed": 4.672615226207346,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.188459396362305,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -32.065467834472656,
                4291.232421875,
                372.5216064453125
            ],
            "velocity": [
                -7.307079792022705,
                0.009490619413554668,
                0.029441898688673973
            ],
            "speed_kmh": 26.305722968885956,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.657566547393799,
                "transform": {
                    "location": {
                        "x": -69.1949234008789,
                        "y": 4301.34375,
                        "z": 372.6804504394531
                    },
                    "rotation": {
                        "roll": 0.008227226324379444,
                        "pitch": -0.011747924610972404,
                        "yaw": 0.038479845970869064
                    }
                },
                "velocity": {
                    "x": 7.657501697540283,
                    "y": -0.0045221480540931225,
                    "z": -0.0311615988612175
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.026474952697754,
                "transform": {
                    "location": {
                        "x": -69.23992156982422,
                        "y": 4298.09619140625,
                        "z": 372.6805725097656
                    },
                    "rotation": {
                        "roll": 0.006164092104882002,
                        "pitch": 0.016679320484399796,
                        "yaw": -0.000396728515625
                    }
                },
                "velocity": {
                    "x": 8.02640151977539,
                    "y": -0.008515299297869205,
                    "z": -0.03320823237299919
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.287558674812317,
                "transform": {
                    "location": {
                        "x": 14.741093635559082,
                        "y": 4290.96240234375,
                        "z": 372.3182067871094
                    },
                    "rotation": {
                        "roll": 0.010378388687968254,
                        "pitch": -0.10817652940750122,
                        "yaw": 179.13104248046875
                    }
                },
                "velocity": {
                    "x": -1.2875410318374634,
                    "y": 0.0030544186010956764,
                    "z": 0.006010360550135374
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2624770402908325,
                "transform": {
                    "location": {
                        "x": 2.2523436546325684,
                        "y": 4291.0498046875,
                        "z": 372.3805847167969
                    },
                    "rotation": {
                        "roll": -0.0430297777056694,
                        "pitch": 0.5255283713340759,
                        "yaw": 177.0972137451172
                    }
                },
                "velocity": {
                    "x": -1.2624380588531494,
                    "y": 0.007840833626687527,
                    "z": 0.006066618021577597
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.307145118713379,
                "transform": {
                    "location": {
                        "x": -32.065467834472656,
                        "y": 4291.232421875,
                        "z": 372.5216064453125
                    },
                    "rotation": {
                        "roll": 0.003371604485437274,
                        "pitch": 0.2583792209625244,
                        "yaw": -179.9882049560547
                    }
                },
                "velocity": {
                    "x": -7.307079792022705,
                    "y": 0.009490619413554668,
                    "z": 0.029441898688673973
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.585002422332764,
                "transform": {
                    "location": {
                        "x": -47.07726287841797,
                        "y": 4291.3212890625,
                        "z": 372.5841064453125
                    },
                    "rotation": {
                        "roll": 0.0043403166346251965,
                        "pitch": 0.2617259919643402,
                        "yaw": -179.98468017578125
                    }
                },
                "velocity": {
                    "x": -7.584930896759033,
                    "y": 0.010829863138496876,
                    "z": 0.031043319031596184
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.108976364135742,
                "transform": {
                    "location": {
                        "x": 11.58437442779541,
                        "y": 4294.220703125,
                        "z": 372.3247985839844
                    },
                    "rotation": {
                        "roll": 0.0026665779296308756,
                        "pitch": 0.32051342725753784,
                        "yaw": 179.88916015625
                    }
                },
                "velocity": {
                    "x": -8.108860969543457,
                    "y": 0.021976744756102562,
                    "z": 0.03721218183636665
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.125328063964844,
                "transform": {
                    "location": {
                        "x": -4.176484107971191,
                        "y": 4294.310546875,
                        "z": 372.40087890625
                    },
                    "rotation": {
                        "roll": 0.024835430085659027,
                        "pitch": 0.8837034702301025,
                        "yaw": 179.88137817382812
                    }
                },
                "velocity": {
                    "x": -10.125195503234863,
                    "y": 0.026009593158960342,
                    "z": 0.04486165940761566
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.85141658782959,
                "transform": {
                    "location": {
                        "x": -33.49617004394531,
                        "y": 4294.48681640625,
                        "z": 372.5298767089844
                    },
                    "rotation": {
                        "roll": 0.01619049347937107,
                        "pitch": -0.10024668276309967,
                        "yaw": 179.90560913085938
                    }
                },
                "velocity": {
                    "x": -5.851349830627441,
                    "y": 0.013994231820106506,
                    "z": 0.02420506440103054
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.956420421600342,
                "transform": {
                    "location": {
                        "x": -48.05843734741211,
                        "y": 4294.57421875,
                        "z": 372.5972900390625
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": 0.23593521118164062,
                        "yaw": 179.9253692626953
                    }
                },
                "velocity": {
                    "x": -6.956334590911865,
                    "y": 0.0182891096919775,
                    "z": 0.029312437400221825
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.048035334795713425,
        "expert_target_speed": 5.678224932563858,
        "target_point": [
            48.59703867182538,
            -0.6074526715778772
        ],
        "target_point_next": [
            99.59338362892356,
            -1.2187490208542966
        ]
    },
    "60": {
        "acceleration": [
            1.3099384307861328,
            -0.02434670925140381,
            -0.015837475657463074
        ],
        "angular_velocity": [
            0.09137984365224838,
            -1.7175533771514893,
            6.009797096252441
        ],
        "forward_vector": [
            -0.9997669458389282,
            -0.018655413761734962,
            0.010864044539630413
        ],
        "right_vector": [
            0.018670985475182533,
            -0.9998247623443604,
            0.00133363192435354
        ],
        "location": [
            -12.142187118530273,
            4291.12548828125,
            372.43695068359375
        ],
        "rotation": [
            -0.0764160081744194,
            0.6224761009216309,
            -178.93099975585938
        ],
        "velocity": [
            -5.136584758758545,
            -0.15386821329593658,
            0.023434963077306747
        ],
        "speed": 5.138888830376997,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.771642684936523,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -33.91335678100586,
                4291.2353515625,
                372.52935791015625
            ],
            "velocity": [
                -7.523458003997803,
                0.020112890750169754,
                0.029910506680607796
            ],
            "speed_kmh": 27.084759640449988,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.322458267211914,
                "transform": {
                    "location": {
                        "x": -67.1312484741211,
                        "y": 4301.34130859375,
                        "z": 372.671875
                    },
                    "rotation": {
                        "roll": 0.0047058467753231525,
                        "pitch": -0.10116192698478699,
                        "yaw": -0.07745359092950821
                    }
                },
                "velocity": {
                    "x": 8.322381019592285,
                    "y": -0.014247195795178413,
                    "z": -0.03283406049013138
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.22294807434082,
                "transform": {
                    "location": {
                        "x": -67.1586685180664,
                        "y": 4298.0927734375,
                        "z": 372.67181396484375
                    },
                    "rotation": {
                        "roll": 0.004289267584681511,
                        "pitch": -0.15051686763763428,
                        "yaw": -0.0942687839269638
                    }
                },
                "velocity": {
                    "x": 8.222867012023926,
                    "y": -0.016658227890729904,
                    "z": -0.03270114213228226
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1778557300567627,
                "transform": {
                    "location": {
                        "x": 14.288436889648438,
                        "y": 4290.9638671875,
                        "z": 372.318359375
                    },
                    "rotation": {
                        "roll": -0.006591795943677425,
                        "pitch": 0.4235195219516754,
                        "yaw": 179.34213256835938
                    }
                },
                "velocity": {
                    "x": -2.177830696105957,
                    "y": 0.003581184893846512,
                    "z": 0.00982275977730751
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.42289662361145,
                "transform": {
                    "location": {
                        "x": 1.8135937452316284,
                        "y": 4291.056640625,
                        "z": 372.3821716308594
                    },
                    "rotation": {
                        "roll": -0.0426940843462944,
                        "pitch": 0.5674589276313782,
                        "yaw": 177.61985778808594
                    }
                },
                "velocity": {
                    "x": -2.422837257385254,
                    "y": 0.013915926218032837,
                    "z": 0.009713715873658657
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.5235443115234375,
                "transform": {
                    "location": {
                        "x": -33.91335678100586,
                        "y": 4291.2353515625,
                        "z": 372.52935791015625
                    },
                    "rotation": {
                        "roll": 0.0017082520062103868,
                        "pitch": 0.24633075296878815,
                        "yaw": 179.8915557861328
                    }
                },
                "velocity": {
                    "x": -7.523458003997803,
                    "y": 0.020112890750169754,
                    "z": 0.029910506680607796
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.201581001281738,
                "transform": {
                    "location": {
                        "x": -49.06523513793945,
                        "y": 4291.32470703125,
                        "z": 372.5923767089844
                    },
                    "rotation": {
                        "roll": 0.0016903828363865614,
                        "pitch": 0.2554968595504761,
                        "yaw": 179.8843536376953
                    }
                },
                "velocity": {
                    "x": -8.201482772827148,
                    "y": 0.021939950063824654,
                    "z": 0.033766116946935654
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.266083717346191,
                "transform": {
                    "location": {
                        "x": 9.407265663146973,
                        "y": 4294.22607421875,
                        "z": 372.3346862792969
                    },
                    "rotation": {
                        "roll": 0.0022928344551473856,
                        "pitch": 0.3422607481479645,
                        "yaw": 179.8497314453125
                    }
                },
                "velocity": {
                    "x": -9.26595401763916,
                    "y": 0.025799555703997612,
                    "z": 0.04182448238134384
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.10094165802002,
                "transform": {
                    "location": {
                        "x": -6.831718444824219,
                        "y": 4294.318359375,
                        "z": 372.4130859375
                    },
                    "rotation": {
                        "roll": 0.019537851214408875,
                        "pitch": 0.7712785601615906,
                        "yaw": 179.8286895751953
                    }
                },
                "velocity": {
                    "x": -11.10075855255127,
                    "y": 0.040265463292598724,
                    "z": 0.049328602850437164
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.21221193671226501,
                "transform": {
                    "location": {
                        "x": -34.272342681884766,
                        "y": 4294.4853515625,
                        "z": 372.5379333496094
                    },
                    "rotation": {
                        "roll": 0.009764951653778553,
                        "pitch": -1.4460124969482422,
                        "yaw": 179.59689331054688
                    }
                },
                "velocity": {
                    "x": -0.21216967701911926,
                    "y": -0.004003378562629223,
                    "z": -0.0013811588287353516
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.816604137420654,
                "transform": {
                    "location": {
                        "x": -49.90398406982422,
                        "y": 4294.5791015625,
                        "z": 372.6054992675781
                    },
                    "rotation": {
                        "roll": 0.0006131643312983215,
                        "pitch": 0.16965505480766296,
                        "yaw": 179.86634826660156
                    }
                },
                "velocity": {
                    "x": -7.816507339477539,
                    "y": 0.02171120047569275,
                    "z": 0.032207611948251724
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10904482752084732,
        "expert_target_speed": 6.111942096818889,
        "target_point": [
            47.320355912256744,
            -1.2258243962592288
        ],
        "target_point_next": [
            98.30497766322674,
            -2.478512354414778
        ]
    },
    "65": {
        "acceleration": [
            -0.4912090301513672,
            0.17841443419456482,
            -0.011648163199424744
        ],
        "angular_velocity": [
            0.2600279450416565,
            -0.3467387855052948,
            -3.9374680519104004
        ],
        "forward_vector": [
            -0.9997510313987732,
            -0.021414758637547493,
            0.00625916151329875
        ],
        "right_vector": [
            0.02141314186155796,
            -0.9997706413269043,
            -0.00032497101346962154
        ],
        "location": [
            -13.40859317779541,
            4291.095703125,
            372.4433898925781
        ],
        "rotation": [
            0.018619833514094353,
            0.3586258888244629,
            -178.7729034423828
        ],
        "velocity": [
            -5.087018966674805,
            -0.099053293466568,
            0.021674413233995438
        ],
        "speed": 5.087983247049441,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.44566535949707,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -35.85359191894531,
                4291.24072265625,
                372.5373840332031
            ],
            "velocity": [
                -7.97921895980835,
                0.025307051837444305,
                0.03294935077428818
            ],
            "speed_kmh": 28.725577638132854,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.884641647338867,
                "transform": {
                    "location": {
                        "x": -65.11656188964844,
                        "y": 4301.3369140625,
                        "z": 372.66339111328125
                    },
                    "rotation": {
                        "roll": 0.004790049046278,
                        "pitch": -0.25829723477363586,
                        "yaw": -0.13134765625
                    }
                },
                "velocity": {
                    "x": 7.8845415115356445,
                    "y": -0.022345278412103653,
                    "z": -0.032869186252355576
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.870903491973877,
                "transform": {
                    "location": {
                        "x": -65.1640625,
                        "y": 4298.08837890625,
                        "z": 372.6634826660156
                    },
                    "rotation": {
                        "roll": 0.004008498974144459,
                        "pitch": -0.2593695819377899,
                        "yaw": -0.1635741889476776
                    }
                },
                "velocity": {
                    "x": 7.870797157287598,
                    "y": -0.025053629651665688,
                    "z": -0.032297100871801376
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.008964519016444683,
                "transform": {
                    "location": {
                        "x": 13.946093559265137,
                        "y": 4290.96533203125,
                        "z": 372.3222961425781
                    },
                    "rotation": {
                        "roll": 0.011403918266296387,
                        "pitch": -0.21383272111415863,
                        "yaw": 179.48080444335938
                    }
                },
                "velocity": {
                    "x": -0.008959890343248844,
                    "y": 3.996361101599177e-06,
                    "z": 0.00028801889857277274
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.2206196784973145,
                "transform": {
                    "location": {
                        "x": 0.9971874952316284,
                        "y": 4291.06689453125,
                        "z": 372.3852233886719
                    },
                    "rotation": {
                        "roll": -0.0486755445599556,
                        "pitch": 0.6505345106124878,
                        "yaw": 178.37930297851562
                    }
                },
                "velocity": {
                    "x": -4.220558166503906,
                    "y": 0.013345791958272457,
                    "z": 0.018489303067326546
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.979327201843262,
                "transform": {
                    "location": {
                        "x": -35.85359191894531,
                        "y": 4291.24072265625,
                        "z": 372.5373840332031
                    },
                    "rotation": {
                        "roll": 0.0018216288881376386,
                        "pitch": 0.2506133019924164,
                        "yaw": 179.83026123046875
                    }
                },
                "velocity": {
                    "x": -7.97921895980835,
                    "y": 0.025307051837444305,
                    "z": 0.03294935077428818
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.17926025390625,
                "transform": {
                    "location": {
                        "x": -51.121639251708984,
                        "y": 4291.330078125,
                        "z": 372.6010437011719
                    },
                    "rotation": {
                        "roll": 0.0014905360294505954,
                        "pitch": 0.24029287695884705,
                        "yaw": 179.82568359375
                    }
                },
                "velocity": {
                    "x": -8.179153442382812,
                    "y": 0.02466193214058876,
                    "z": 0.03362485021352768
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.510986328125,
                "transform": {
                    "location": {
                        "x": 6.928124904632568,
                        "y": 4294.23486328125,
                        "z": 372.34600830078125
                    },
                    "rotation": {
                        "roll": 0.0029382130596786737,
                        "pitch": 0.34616079926490784,
                        "yaw": 179.77610778808594
                    }
                },
                "velocity": {
                    "x": -10.51077651977539,
                    "y": 0.04719579964876175,
                    "z": 0.046667687594890594
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.253539085388184,
                "transform": {
                    "location": {
                        "x": -9.663515090942383,
                        "y": 4294.32958984375,
                        "z": 372.4264221191406
                    },
                    "rotation": {
                        "roll": 0.01952972821891308,
                        "pitch": 0.5310540199279785,
                        "yaw": 179.74513244628906
                    }
                },
                "velocity": {
                    "x": -11.253318786621094,
                    "y": 0.05131907761096954,
                    "z": 0.0483483225107193
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8673864603042603,
                "transform": {
                    "location": {
                        "x": -34.58796691894531,
                        "y": 4294.48681640625,
                        "z": 372.5347595214844
                    },
                    "rotation": {
                        "roll": 0.016655616462230682,
                        "pitch": -0.2784736156463623,
                        "yaw": 179.63870239257812
                    }
                },
                "velocity": {
                    "x": -1.8673521280288696,
                    "y": 0.007967744022607803,
                    "z": 0.008049306459724903
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.17927360534668,
                "transform": {
                    "location": {
                        "x": -51.9296875,
                        "y": 4294.58544921875,
                        "z": 372.6137390136719
                    },
                    "rotation": {
                        "roll": -0.002044677035883069,
                        "pitch": 0.1870037317276001,
                        "yaw": 179.8203125
                    }
                },
                "velocity": {
                    "x": -8.179132461547852,
                    "y": 0.03513661026954651,
                    "z": 0.032720908522605896
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1675761342048645,
        "expert_target_speed": 6.076533249950024,
        "target_point": [
            46.05004030449324,
            -1.3590336618112637
        ],
        "target_point_next": [
            97.03101187250861,
            -2.752382215188791
        ]
    },
    "70": {
        "acceleration": [
            -5.952177047729492,
            0.11018097400665283,
            0.03637123852968216
        ],
        "angular_velocity": [
            -0.006828601472079754,
            1.8610512018203735,
            1.7619456052780151
        ],
        "forward_vector": [
            -0.9998099207878113,
            -0.016938190907239914,
            0.009657947346568108
        ],
        "right_vector": [
            0.0169305969029665,
            -0.9998562932014465,
            -0.0008676627767272294
        ],
        "location": [
            -14.758593559265137,
            4291.0732421875,
            372.44842529296875
        ],
        "rotation": [
            0.049715738743543625,
            0.5533682107925415,
            -179.0294189453125
        ],
        "velocity": [
            -6.126567840576172,
            -0.07540418207645416,
            0.02639804780483246
        ],
        "speed": 6.127031850403325,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.105398178100586,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -37.86312484741211,
                4291.248046875,
                372.5458984375
            ],
            "velocity": [
                -7.984750747680664,
                0.035681817680597305,
                0.033284254372119904
            ],
            "speed_kmh": 28.745639442362485,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.092684745788574,
                "transform": {
                    "location": {
                        "x": -63.12632751464844,
                        "y": 4301.32958984375,
                        "z": 372.6551818847656
                    },
                    "rotation": {
                        "roll": 0.0033518795389682055,
                        "pitch": -0.21709755063056946,
                        "yaw": -0.2113342136144638
                    }
                },
                "velocity": {
                    "x": 8.09255313873291,
                    "y": -0.03193533048033714,
                    "z": -0.033293187618255615
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.134204864501953,
                "transform": {
                    "location": {
                        "x": -63.16242218017578,
                        "y": 4298.0810546875,
                        "z": 372.6552734375
                    },
                    "rotation": {
                        "roll": 0.0031730113551020622,
                        "pitch": -0.2123095840215683,
                        "yaw": -0.2021789401769638
                    }
                },
                "velocity": {
                    "x": 8.134072303771973,
                    "y": -0.032701633870601654,
                    "z": -0.033046890050172806
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.161499261856079,
                "transform": {
                    "location": {
                        "x": 13.769296646118164,
                        "y": 4290.9658203125,
                        "z": 372.3214416503906
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": 0.24126958847045898,
                        "yaw": 179.51869201660156
                    }
                },
                "velocity": {
                    "x": -1.1614807844161987,
                    "y": 0.004621768835932016,
                    "z": 0.004648761823773384
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.395689964294434,
                "transform": {
                    "location": {
                        "x": -0.2601562440395355,
                        "y": 4291.07568359375,
                        "z": 372.3914794921875
                    },
                    "rotation": {
                        "roll": -0.0336608923971653,
                        "pitch": 0.6042258143424988,
                        "yaw": 179.203369140625
                    }
                },
                "velocity": {
                    "x": -5.3956298828125,
                    "y": -6.869561912026256e-05,
                    "z": 0.025440635159611702
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.984899997711182,
                "transform": {
                    "location": {
                        "x": -37.86312484741211,
                        "y": 4291.248046875,
                        "z": 372.5458984375
                    },
                    "rotation": {
                        "roll": 0.0016444931970909238,
                        "pitch": 0.2404089868068695,
                        "yaw": 179.7687225341797
                    }
                },
                "velocity": {
                    "x": -7.984750747680664,
                    "y": 0.035681817680597305,
                    "z": 0.033284254372119904
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.003988265991211,
                "transform": {
                    "location": {
                        "x": -53.14046859741211,
                        "y": 4291.33740234375,
                        "z": 372.6094970703125
                    },
                    "rotation": {
                        "roll": 0.0011110942577943206,
                        "pitch": 0.23554588854312897,
                        "yaw": 179.7697296142578
                    }
                },
                "velocity": {
                    "x": -8.003844261169434,
                    "y": 0.03535350039601326,
                    "z": 0.03251134976744652
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.750567436218262,
                "transform": {
                    "location": {
                        "x": 4.217265605926514,
                        "y": 4294.24658203125,
                        "z": 372.35870361328125
                    },
                    "rotation": {
                        "roll": 0.0004370834503788501,
                        "pitch": 0.296177476644516,
                        "yaw": 179.7315673828125
                    }
                },
                "velocity": {
                    "x": -10.750340461730957,
                    "y": 0.049890778958797455,
                    "z": 0.04885845258831978
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.241650581359863,
                "transform": {
                    "location": {
                        "x": -12.372031211853027,
                        "y": 4294.34228515625,
                        "z": 372.4397277832031
                    },
                    "rotation": {
                        "roll": 0.014462342485785484,
                        "pitch": 0.1239747554063797,
                        "yaw": 179.7152099609375
                    }
                },
                "velocity": {
                    "x": -10.241411209106445,
                    "y": 0.0535859577357769,
                    "z": 0.04516775161027908
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.111713171005249,
                "transform": {
                    "location": {
                        "x": -35.217185974121094,
                        "y": 4294.48876953125,
                        "z": 372.5348815917969
                    },
                    "rotation": {
                        "roll": 0.004611342214047909,
                        "pitch": 0.43745994567871094,
                        "yaw": 179.68643188476562
                    }
                },
                "velocity": {
                    "x": -3.1116631031036377,
                    "y": 0.011887311935424805,
                    "z": 0.013042077422142029
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.210170269012451,
                "transform": {
                    "location": {
                        "x": -53.90812301635742,
                        "y": 4294.59375,
                        "z": 372.6211242675781
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": 0.29151928424835205,
                        "yaw": 179.7641143798828
                    }
                },
                "velocity": {
                    "x": -7.210030555725098,
                    "y": 0.03313586488366127,
                    "z": 0.030232543125748634
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1741241216659546,
        "expert_target_speed": 7.0063096407987375,
        "target_point": [
            44.70547549836563,
            -1.152465180508543
        ],
        "target_point_next": [
            95.69217362106663,
            -2.3175818075252654
        ]
    },
    "75": {
        "acceleration": [
            -3.4786319732666016,
            0.06694421172142029,
            0.005155391991138458
        ],
        "angular_velocity": [
            0.11090420186519623,
            -0.03110036440193653,
            -3.25069522857666
        ],
        "forward_vector": [
            -0.9998558163642883,
            -0.012381743639707565,
            0.011619305238127708
        ],
        "right_vector": [
            0.012374764308333397,
            -0.9999232292175293,
            -0.0006724463310092688
        ],
        "location": [
            -16.412109375,
            4291.05322265625,
            372.45513916015625
        ],
        "rotation": [
            0.03853094205260277,
            0.6657521724700928,
            -179.29051208496094
        ],
        "velocity": [
            -7.043320655822754,
            -0.07312483340501785,
            0.0301040168851614
        ],
        "speed": 7.043700242202246,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.409847259521484,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -39.820858001708984,
                4291.25732421875,
                372.5541076660156
            ],
            "velocity": [
                -7.708806037902832,
                0.03605535998940468,
                0.03335612267255783
            ],
            "speed_kmh": 27.75226507553654,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.087976455688477,
                "transform": {
                    "location": {
                        "x": -61.094451904296875,
                        "y": 4301.32177734375,
                        "z": 372.6467590332031
                    },
                    "rotation": {
                        "roll": 0.0021433180663734674,
                        "pitch": -0.23452819883823395,
                        "yaw": -0.240325927734375
                    }
                },
                "velocity": {
                    "x": 8.0878324508667,
                    "y": -0.03459491580724716,
                    "z": -0.03362705558538437
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05333423614502,
                "transform": {
                    "location": {
                        "x": -61.13328170776367,
                        "y": 4298.072265625,
                        "z": 372.6468200683594
                    },
                    "rotation": {
                        "roll": 0.0017715954454615712,
                        "pitch": -0.24117396771907806,
                        "yaw": -0.2624511420726776
                    }
                },
                "velocity": {
                    "x": 8.053183555603027,
                    "y": -0.035851944237947464,
                    "z": -0.033738549798727036
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9918524026870728,
                "transform": {
                    "location": {
                        "x": 13.37289047241211,
                        "y": 4290.96826171875,
                        "z": 372.3222961425781
                    },
                    "rotation": {
                        "roll": -0.004821776412427425,
                        "pitch": 0.5128173828125,
                        "yaw": 179.56370544433594
                    }
                },
                "velocity": {
                    "x": -1.9918254613876343,
                    "y": 0.006816643290221691,
                    "z": 0.007806539535522461
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.069804668426514,
                "transform": {
                    "location": {
                        "x": -1.7209374904632568,
                        "y": 4291.08203125,
                        "z": 372.4001159667969
                    },
                    "rotation": {
                        "roll": -0.0035705554764717817,
                        "pitch": 0.3475610017776489,
                        "yaw": 179.95985412597656
                    }
                },
                "velocity": {
                    "x": -5.069753646850586,
                    "y": 0.0061310878954827785,
                    "z": 0.02189275622367859
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.708962440490723,
                "transform": {
                    "location": {
                        "x": -39.820858001708984,
                        "y": 4291.25732421875,
                        "z": 372.5541076660156
                    },
                    "rotation": {
                        "roll": 0.000856767117511481,
                        "pitch": 0.2338588386774063,
                        "yaw": 179.73287963867188
                    }
                },
                "velocity": {
                    "x": -7.708806037902832,
                    "y": 0.03605535998940468,
                    "z": 0.03335612267255783
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.047102928161621,
                "transform": {
                    "location": {
                        "x": -55.145076751708984,
                        "y": 4291.3466796875,
                        "z": 372.61773681640625
                    },
                    "rotation": {
                        "roll": 0.0005112690851092339,
                        "pitch": 0.23671385645866394,
                        "yaw": 179.72901916503906
                    }
                },
                "velocity": {
                    "x": -8.046939849853516,
                    "y": 0.03900497034192085,
                    "z": 0.03318602591753006
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.19886589050293,
                "transform": {
                    "location": {
                        "x": 1.7171874046325684,
                        "y": 4294.259765625,
                        "z": 372.370849609375
                    },
                    "rotation": {
                        "roll": 0.0002889566239900887,
                        "pitch": 0.18682615458965302,
                        "yaw": 179.70712280273438
                    }
                },
                "velocity": {
                    "x": -9.19864273071289,
                    "y": 0.049167830497026443,
                    "z": 0.04112551733851433
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.776930809020996,
                "transform": {
                    "location": {
                        "x": -14.673515319824219,
                        "y": 4294.3544921875,
                        "z": 372.451171875
                    },
                    "rotation": {
                        "roll": 0.007552275434136391,
                        "pitch": -0.24835249781608582,
                        "yaw": 179.69102478027344
                    }
                },
                "velocity": {
                    "x": -8.77672290802002,
                    "y": 0.04726878181099892,
                    "z": 0.03747107461094856
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.519487380981445,
                "transform": {
                    "location": {
                        "x": -36.18710708618164,
                        "y": 4294.4931640625,
                        "z": 372.537841796875
                    },
                    "rotation": {
                        "roll": 0.003592290449887514,
                        "pitch": 0.7373120784759521,
                        "yaw": 179.73110961914062
                    }
                },
                "velocity": {
                    "x": -4.519402503967285,
                    "y": 0.021394597366452217,
                    "z": 0.01757139153778553
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.884464740753174,
                "transform": {
                    "location": {
                        "x": -55.46492004394531,
                        "y": 4294.6005859375,
                        "z": 372.62701416015625
                    },
                    "rotation": {
                        "roll": -0.0010070799617096782,
                        "pitch": 0.356474369764328,
                        "yaw": 179.7352294921875
                    }
                },
                "velocity": {
                    "x": -5.884346008300781,
                    "y": 0.027281582355499268,
                    "z": 0.025610923767089844
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.18485164642333984,
        "expert_target_speed": 7.765525225676506,
        "target_point": [
            43.05662626931512,
            -0.9482681733854156
        ],
        "target_point_next": [
            94.04810453358716,
            -1.8810203560492798
        ]
    },
    "80": {
        "acceleration": [
            -4.133119583129883,
            0.12547016143798828,
            0.01306384801864624
        ],
        "angular_velocity": [
            -0.05778852105140686,
            0.1469210982322693,
            1.211134672164917
        ],
        "forward_vector": [
            -0.9998947978019714,
            -0.008535084314644337,
            0.011729447171092033
        ],
        "right_vector": [
            0.008525815792381763,
            -0.9999632835388184,
            -0.0008399328216910362
        ],
        "location": [
            -18.29070281982422,
            4291.03759765625,
            372.4631042480469
        ],
        "rotation": [
            0.0481279231607914,
            0.6720632314682007,
            -179.5109405517578
        ],
        "velocity": [
            -7.98529577255249,
            -0.04630747064948082,
            0.03403821960091591
        ],
        "speed": 7.985430042081806,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.456798553466797,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -41.74617004394531,
                4291.26708984375,
                372.5621032714844
            ],
            "velocity": [
                -7.732905864715576,
                0.039213813841342926,
                0.03321385383605957
            ],
            "speed_kmh": 27.839075828518876,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.005179405212402,
                "transform": {
                    "location": {
                        "x": -59.088592529296875,
                        "y": 4301.31201171875,
                        "z": 372.6385192871094
                    },
                    "rotation": {
                        "roll": 0.001398141379468143,
                        "pitch": -0.24630343914031982,
                        "yaw": -0.2774047553539276
                    }
                },
                "velocity": {
                    "x": 8.005013465881348,
                    "y": -0.039816245436668396,
                    "z": -0.032689910382032394
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.019980430603027,
                "transform": {
                    "location": {
                        "x": -59.13007736206055,
                        "y": 4298.06298828125,
                        "z": 372.6385498046875
                    },
                    "rotation": {
                        "roll": 0.0012199932243674994,
                        "pitch": -0.24264246225357056,
                        "yaw": -0.259979248046875
                    }
                },
                "velocity": {
                    "x": 8.019818305969238,
                    "y": -0.03853930905461311,
                    "z": -0.03341072052717209
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1727027893066406,
                "transform": {
                    "location": {
                        "x": 12.801875114440918,
                        "y": 4290.97021484375,
                        "z": 372.3250732421875
                    },
                    "rotation": {
                        "roll": -0.003479003207758069,
                        "pitch": 0.4683733582496643,
                        "yaw": 179.63827514648438
                    }
                },
                "velocity": {
                    "x": -2.172670841217041,
                    "y": 0.006712591275572777,
                    "z": 0.009684639051556587
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0026077586226165295,
                "transform": {
                    "location": {
                        "x": -2.169374942779541,
                        "y": 4291.0888671875,
                        "z": 372.41229248046875
                    },
                    "rotation": {
                        "roll": -0.01571655087172985,
                        "pitch": -0.9462953209877014,
                        "yaw": -179.58351135253906
                    }
                },
                "velocity": {
                    "x": -0.0006032076198607683,
                    "y": 0.002104294952005148,
                    "z": -0.0014172116061672568
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.733076572418213,
                "transform": {
                    "location": {
                        "x": -41.74617004394531,
                        "y": 4291.26708984375,
                        "z": 372.5621032714844
                    },
                    "rotation": {
                        "roll": 0.001273473841138184,
                        "pitch": 0.23752664029598236,
                        "yaw": 179.72088623046875
                    }
                },
                "velocity": {
                    "x": -7.732905864715576,
                    "y": 0.039213813841342926,
                    "z": 0.03321385383605957
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.042966842651367,
                "transform": {
                    "location": {
                        "x": -57.157108306884766,
                        "y": 4291.35693359375,
                        "z": 372.6260986328125
                    },
                    "rotation": {
                        "roll": 0.0012885831529274583,
                        "pitch": 0.23794329166412354,
                        "yaw": 179.7044219970703
                    }
                },
                "velocity": {
                    "x": -8.0427827835083,
                    "y": 0.043201614171266556,
                    "z": 0.032926082611083984
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.121252059936523,
                "transform": {
                    "location": {
                        "x": -0.40828123688697815,
                        "y": 4294.27099609375,
                        "z": 372.3803405761719
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": 0.1857401579618454,
                        "yaw": 179.6934356689453
                    }
                },
                "velocity": {
                    "x": -8.121054649353027,
                    "y": 0.04336651787161827,
                    "z": 0.03638984635472298
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.160136222839355,
                "transform": {
                    "location": {
                        "x": -16.91890525817871,
                        "y": 4294.36669921875,
                        "z": 372.4592590332031
                    },
                    "rotation": {
                        "roll": 0.005156344268471003,
                        "pitch": 0.15523652732372284,
                        "yaw": 179.67544555664062
                    }
                },
                "velocity": {
                    "x": -9.159899711608887,
                    "y": 0.05322670936584473,
                    "z": 0.038794297724962234
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.364161491394043,
                "transform": {
                    "location": {
                        "x": -37.465389251708984,
                        "y": 4294.49951171875,
                        "z": 372.54345703125
                    },
                    "rotation": {
                        "roll": 0.002026254078373313,
                        "pitch": 0.7158038020133972,
                        "yaw": 179.73333740234375
                    }
                },
                "velocity": {
                    "x": -5.364051342010498,
                    "y": 0.02474519982933998,
                    "z": 0.02391325868666172
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.193981170654297,
                "transform": {
                    "location": {
                        "x": -56.95671844482422,
                        "y": 4294.60791015625,
                        "z": 372.6342468261719
                    },
                    "rotation": {
                        "roll": -0.0013732905499637127,
                        "pitch": 0.22839468717575073,
                        "yaw": 179.69252014160156
                    }
                },
                "velocity": {
                    "x": -6.193833351135254,
                    "y": 0.03389158099889755,
                    "z": 0.026136798784136772
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.18192435801029205,
        "expert_target_speed": 8.492649439586279,
        "target_point": [
            41.18129735927531,
            -0.7822066509512406
        ],
        "target_point_next": [
            92.17598668094172,
            -1.5187819673399003
        ]
    },
    "85": {
        "acceleration": [
            -1.2826156616210938,
            0.17655974626541138,
            0.0016080588102340698
        ],
        "angular_velocity": [
            0.0888916626572609,
            -0.766128420829773,
            -3.2393109798431396
        ],
        "forward_vector": [
            -0.9999425411224365,
            -0.002903692191466689,
            0.010315473191440105
        ],
        "right_vector": [
            0.0028932883869856596,
            -0.9999952912330627,
            -0.0010233453940600157
        ],
        "location": [
            -20.39289093017578,
            4291.02978515625,
            372.4722900390625
        ],
        "rotation": [
            0.05863650515675545,
            0.5910435318946838,
            -179.8336181640625
        ],
        "velocity": [
            -8.600089073181152,
            -0.008234539069235325,
            0.03681160882115364
        ],
        "speed": 8.6000930154437,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.296201705932617,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -43.68757629394531,
                4291.27685546875,
                372.5701599121094
            ],
            "velocity": [
                -7.786837577819824,
                0.04122116044163704,
                0.0335499569773674
            ],
            "speed_kmh": 28.033268247592645,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -98.41609191894531,
                        "y": 4301.44873046875,
                        "z": 373.0760192871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23211713135242462,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -98.43531036376953,
                        "y": 4298.19873046875,
                        "z": 373.0760192871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23211713135242462,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.084957122802734,
                "transform": {
                    "location": {
                        "x": -57.07585906982422,
                        "y": 4301.30224609375,
                        "z": 372.6301574707031
                    },
                    "rotation": {
                        "roll": 0.0024440709967166185,
                        "pitch": -0.23095600306987762,
                        "yaw": -0.2940063178539276
                    }
                },
                "velocity": {
                    "x": 8.084783554077148,
                    "y": -0.041313547641038895,
                    "z": -0.03323359414935112
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.079712867736816,
                "transform": {
                    "location": {
                        "x": -57.115234375,
                        "y": 4298.05322265625,
                        "z": 372.6302185058594
                    },
                    "rotation": {
                        "roll": 0.0011315379524603486,
                        "pitch": -0.2320556640625,
                        "yaw": -0.313629150390625
                    }
                },
                "velocity": {
                    "x": 8.079527854919434,
                    "y": -0.04313551262021065,
                    "z": -0.03359374403953552
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6165841221809387,
                "transform": {
                    "location": {
                        "x": 12.62320327758789,
                        "y": 4290.97119140625,
                        "z": 372.3281555175781
                    },
                    "rotation": {
                        "roll": 0.001637113280594349,
                        "pitch": -0.12139977514743805,
                        "yaw": 179.677734375
                    }
                },
                "velocity": {
                    "x": -0.6165745258331299,
                    "y": 0.0019086955580860376,
                    "z": 0.00286039337515831
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4302494525909424,
                "transform": {
                    "location": {
                        "x": -2.228515625,
                        "y": 4291.0888671875,
                        "z": 372.4046936035156
                    },
                    "rotation": {
                        "roll": -0.006347655318677425,
                        "pitch": 0.02282649092376232,
                        "yaw": -179.60565185546875
                    }
                },
                "velocity": {
                    "x": -0.4302370250225067,
                    "y": -0.0020957086235284805,
                    "z": 0.0025119781494140625
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.787018775939941,
                "transform": {
                    "location": {
                        "x": -43.68757629394531,
                        "y": 4291.27685546875,
                        "z": 372.5701599121094
                    },
                    "rotation": {
                        "roll": 0.00019992419402115047,
                        "pitch": 0.24123543500900269,
                        "yaw": 179.7001190185547
                    }
                },
                "velocity": {
                    "x": -7.786837577819824,
                    "y": 0.04122116044163704,
                    "z": 0.0335499569773674
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.075519561767578,
                "transform": {
                    "location": {
                        "x": -59.17265319824219,
                        "y": 4291.3681640625,
                        "z": 372.6343994140625
                    },
                    "rotation": {
                        "roll": 0.00031870411476120353,
                        "pitch": 0.237171471118927,
                        "yaw": 179.68939208984375
                    }
                },
                "velocity": {
                    "x": -8.075325965881348,
                    "y": 0.04464124143123627,
                    "z": 0.033681172877550125
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.737378120422363,
                "transform": {
                    "location": {
                        "x": -2.494687557220459,
                        "y": 4294.28271484375,
                        "z": 372.38909912109375
                    },
                    "rotation": {
                        "roll": 1.5881540093687363e-05,
                        "pitch": 0.268624484539032,
                        "yaw": 179.68496704101562
                    }
                },
                "velocity": {
                    "x": -8.737147331237793,
                    "y": 0.049739040434360504,
                    "z": 0.03950190544128418
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.966593742370605,
                "transform": {
                    "location": {
                        "x": -19.331092834472656,
                        "y": 4294.38037109375,
                        "z": 372.4683837890625
                    },
                    "rotation": {
                        "roll": 0.0016595561755821109,
                        "pitch": 0.4696779251098633,
                        "yaw": 179.67298889160156
                    }
                },
                "velocity": {
                    "x": -9.966344833374023,
                    "y": 0.05701331049203873,
                    "z": 0.04155394434928894
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.442651748657227,
                "transform": {
                    "location": {
                        "x": -38.87312316894531,
                        "y": 4294.50537109375,
                        "z": 372.549560546875
                    },
                    "rotation": {
                        "roll": 0.002076010452583432,
                        "pitch": 0.6729785203933716,
                        "yaw": 179.72140502929688
                    }
                },
                "velocity": {
                    "x": -6.442521095275879,
                    "y": 0.03173007071018219,
                    "z": 0.026027631014585495
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3710,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.347839832305908,
                "transform": {
                    "location": {
                        "x": -58.59015655517578,
                        "y": 4294.61669921875,
                        "z": 372.6416320800781
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": 0.14790090918540955,
                        "yaw": 179.73947143554688
                    }
                },
                "velocity": {
                    "x": -7.347665786743164,
                    "y": 0.040862370282411575,
                    "z": 0.02972913719713688
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.17021876573562622,
        "expert_target_speed": 8.933246097293097,
        "target_point": [
            39.082847626418314,
            -0.551973374256643
        ],
        "target_point_next": [
            90.08087652508996,
            -1.001340329253075
        ]
    },
    "90": {
        "acceleration": [
            -2.957897186279297,
            0.24195566773414612,
            0.00040397047996520996
        ],
        "angular_velocity": [
            -0.08501437306404114,
            -0.34208083152770996,
            0.44053414463996887
        ],
        "forward_vector": [
            -0.9999114274978638,
            0.0029879952780902386,
            0.012971274554729462
        ],
        "right_vector": [
            -0.0030053751543164253,
            -0.9999945759773254,
            -0.0013206033036112785
        ],
        "location": [
            -22.7745304107666,
            4291.0341796875,
            372.4819030761719
        ],
        "rotation": [
            0.07567138224840164,
            0.7432201504707336,
            179.8287811279297
        ],
        "velocity": [
            -10.022111892700195,
            0.051199477165937424,
            0.04125469923019409
        ],
        "speed": 10.022242671990375,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.867298126220703,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -45.64023208618164,
                4291.28662109375,
                372.5782775878906
            ],
            "velocity": [
                -7.819039344787598,
                0.04360669106245041,
                0.03290630131959915
            ],
            "speed_kmh": 28.149228656214884,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -96.34491729736328,
                        "y": 4301.43603515625,
                        "z": 372.8525695800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23211713135242462,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -96.3641357421875,
                        "y": 4298.18603515625,
                        "z": 372.8525695800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23211713135242462,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.040495872497559,
                "transform": {
                    "location": {
                        "x": -55.059452056884766,
                        "y": 4301.291015625,
                        "z": 372.621826171875
                    },
                    "rotation": {
                        "roll": 0.0015937681309878826,
                        "pitch": -0.24090759456157684,
                        "yaw": -0.307861328125
                    }
                },
                "velocity": {
                    "x": 8.040312767028809,
                    "y": -0.04312257096171379,
                    "z": -0.03276452049612999
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041773796081543,
                "transform": {
                    "location": {
                        "x": -55.10007858276367,
                        "y": 4298.04150390625,
                        "z": 372.6218566894531
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.2407846450805664,
                        "yaw": -0.2961425185203552
                    }
                },
                "velocity": {
                    "x": 8.041584014892578,
                    "y": -0.043848104774951935,
                    "z": -0.03348720446228981
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4902262687683105,
                "transform": {
                    "location": {
                        "x": 12.350546836853027,
                        "y": 4290.9716796875,
                        "z": 372.3276062011719
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": 0.37469732761383057,
                        "yaw": 179.71170043945312
                    }
                },
                "velocity": {
                    "x": -1.490208387374878,
                    "y": 0.0037901243194937706,
                    "z": 0.006247968412935734
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.137620210647583,
                "transform": {
                    "location": {
                        "x": -2.4178905487060547,
                        "y": 4291.08935546875,
                        "z": 372.4013977050781
                    },
                    "rotation": {
                        "roll": 0.007997233420610428,
                        "pitch": 0.5539829730987549,
                        "yaw": -179.5791473388672
                    }
                },
                "velocity": {
                    "x": -1.1376121044158936,
                    "y": -0.0013065339298918843,
                    "z": 0.004096183460205793
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.819230079650879,
                "transform": {
                    "location": {
                        "x": -45.64023208618164,
                        "y": 4291.28662109375,
                        "z": 372.5782775878906
                    },
                    "rotation": {
                        "roll": 0.0015366993611678481,
                        "pitch": 0.23847603797912598,
                        "yaw": 179.69174194335938
                    }
                },
                "velocity": {
                    "x": -7.819039344787598,
                    "y": 0.04360669106245041,
                    "z": 0.03290630131959915
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.03372859954834,
                "transform": {
                    "location": {
                        "x": -61.18585968017578,
                        "y": 4291.37939453125,
                        "z": 372.6427307128906
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": 0.23665237426757812,
                        "yaw": 179.68312072753906
                    }
                },
                "velocity": {
                    "x": -8.03353500366211,
                    "y": 0.044452834874391556,
                    "z": 0.03375854343175888
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.722616195678711,
                "transform": {
                    "location": {
                        "x": -4.814296722412109,
                        "y": 4294.29541015625,
                        "z": 372.3990783691406
                    },
                    "rotation": {
                        "roll": 0.0009653902961872518,
                        "pitch": 0.31252211332321167,
                        "yaw": 179.6756134033203
                    }
                },
                "velocity": {
                    "x": -9.722356796264648,
                    "y": 0.0567607544362545,
                    "z": 0.04275908321142197
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.62839412689209,
                "transform": {
                    "location": {
                        "x": -21.793203353881836,
                        "y": 4294.39404296875,
                        "z": 372.4795227050781
                    },
                    "rotation": {
                        "roll": 0.0003663546231109649,
                        "pitch": 0.2584816515445709,
                        "yaw": 179.67286682128906
                    }
                },
                "velocity": {
                    "x": -9.62814998626709,
                    "y": 0.05495108664035797,
                    "z": 0.04101896286010742
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.825714588165283,
                "transform": {
                    "location": {
                        "x": -40.67156219482422,
                        "y": 4294.51416015625,
                        "z": 372.5563049316406
                    },
                    "rotation": {
                        "roll": 0.0007533581811003387,
                        "pitch": 0.8334196209907532,
                        "yaw": 179.71185302734375
                    }
                },
                "velocity": {
                    "x": -7.825567245483398,
                    "y": 0.03617831692099571,
                    "z": 0.03164337947964668
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.926168441772461,
                "transform": {
                    "location": {
                        "x": 11.210311889648438,
                        "y": 4294.30126953125,
                        "z": 372.4196472167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26665741205215454,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -8.594521522521973,
                    "y": 0.05079686641693115,
                    "z": -2.4100003242492676
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3277227282524109,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.14020374417304993,
        "expert_target_speed": 9.84590042971307,
        "target_point": [
            36.703779398782025,
            -0.32441826592338807
        ],
        "target_point_next": [
            87.7035707097882,
            -0.4733089768885601
        ]
    },
    "95": {
        "acceleration": [
            -1.8092918395996094,
            0.27043938636779785,
            0.025785118341445923
        ],
        "angular_velocity": [
            0.05196201428771019,
            -0.5644473433494568,
            -3.151123046875
        ],
        "forward_vector": [
            -0.9999009370803833,
            0.00942132156342268,
            0.010453510098159313
        ],
        "right_vector": [
            -0.009437226690351963,
            -0.9999544024467468,
            -0.0014732067938894033
        ],
        "location": [
            -25.354530334472656,
            4291.0537109375,
            372.4931640625
        ],
        "rotation": [
            0.08441317826509476,
            0.5989528894424438,
            179.4601593017578
        ],
        "velocity": [
            -10.565570831298828,
            0.11546000838279724,
            0.0444021038711071
        ],
        "speed": 10.566201682947774,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.23286247253418,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -47.58585739135742,
                4291.2978515625,
                372.58636474609375
            ],
            "velocity": [
                -7.752043724060059,
                0.04415390267968178,
                0.03301998972892761
            ],
            "speed_kmh": 27.908063249786952,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -94.2640609741211,
                        "y": 4301.42431640625,
                        "z": 372.7966613769531
                    },
                    "rotation": {
                        "roll": 5.211063872079258e-11,
                        "pitch": -0.23355147242546082,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -94.28327941894531,
                        "y": 4298.17431640625,
                        "z": 372.7966613769531
                    },
                    "rotation": {
                        "roll": 5.211063872079258e-11,
                        "pitch": -0.23355147242546082,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05505657196045,
                "transform": {
                    "location": {
                        "x": -53.04898452758789,
                        "y": 4301.279296875,
                        "z": 372.61346435546875
                    },
                    "rotation": {
                        "roll": 0.0010382611071690917,
                        "pitch": -0.23828479647636414,
                        "yaw": -0.3221435546875
                    }
                },
                "velocity": {
                    "x": 8.05486011505127,
                    "y": -0.0452876016497612,
                    "z": -0.033460043370723724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050189971923828,
                "transform": {
                    "location": {
                        "x": -53.08968734741211,
                        "y": 4298.02978515625,
                        "z": 372.61358642578125
                    },
                    "rotation": {
                        "roll": -0.0002136229450115934,
                        "pitch": -0.23831211030483246,
                        "yaw": -0.339752197265625
                    }
                },
                "velocity": {
                    "x": 8.049989700317383,
                    "y": -0.046304672956466675,
                    "z": -0.032802220433950424
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1531753540039062,
                "transform": {
                    "location": {
                        "x": 11.868515014648438,
                        "y": 4290.97412109375,
                        "z": 372.3292541503906
                    },
                    "rotation": {
                        "roll": -0.0013427734375,
                        "pitch": 0.5338407158851624,
                        "yaw": 179.75390625
                    }
                },
                "velocity": {
                    "x": -2.1531448364257812,
                    "y": 0.005888928193598986,
                    "z": 0.00983833335340023
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.346341133117676,
                "transform": {
                    "location": {
                        "x": -2.858515501022339,
                        "y": 4291.08837890625,
                        "z": 372.403076171875
                    },
                    "rotation": {
                        "roll": 0.009205474518239498,
                        "pitch": 0.5764815807342529,
                        "yaw": -179.65054321289062
                    }
                },
                "velocity": {
                    "x": -2.34631609916687,
                    "y": -0.004062856547534466,
                    "z": 0.010027751326560974
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.75223970413208,
                "transform": {
                    "location": {
                        "x": -47.58585739135742,
                        "y": 4291.2978515625,
                        "z": 372.58636474609375
                    },
                    "rotation": {
                        "roll": 0.0015182564966380596,
                        "pitch": 0.23797744512557983,
                        "yaw": 179.68038940429688
                    }
                },
                "velocity": {
                    "x": -7.752043724060059,
                    "y": 0.04415390267968178,
                    "z": 0.03301998972892761
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.069260597229004,
                "transform": {
                    "location": {
                        "x": -63.19874954223633,
                        "y": 4291.3916015625,
                        "z": 372.6510314941406
                    },
                    "rotation": {
                        "roll": 0.00031010934617370367,
                        "pitch": 0.23699389398097992,
                        "yaw": 179.67832946777344
                    }
                },
                "velocity": {
                    "x": -8.069064140319824,
                    "y": 0.04521821066737175,
                    "z": 0.033495254814624786
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.86937427520752,
                "transform": {
                    "location": {
                        "x": -7.17507791519165,
                        "y": 4294.30908203125,
                        "z": 372.41009521484375
                    },
                    "rotation": {
                        "roll": 0.0003132253186777234,
                        "pitch": 0.22355890274047852,
                        "yaw": 179.67153930664062
                    }
                },
                "velocity": {
                    "x": -8.86913776397705,
                    "y": 0.05083323270082474,
                    "z": 0.0401269793510437
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.93578577041626,
                "transform": {
                    "location": {
                        "x": -23.987186431884766,
                        "y": 4294.40673828125,
                        "z": 372.4905700683594
                    },
                    "rotation": {
                        "roll": -9.155267616733909e-05,
                        "pitch": -0.2125827968120575,
                        "yaw": 179.6681365966797
                    }
                },
                "velocity": {
                    "x": -7.935585021972656,
                    "y": 0.04592977464199066,
                    "z": 0.032753486186265945
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.357515335083008,
                "transform": {
                    "location": {
                        "x": -42.74179458618164,
                        "y": 4294.5244140625,
                        "z": 372.56561279296875
                    },
                    "rotation": {
                        "roll": 0.0014184071915224195,
                        "pitch": 0.6607114672660828,
                        "yaw": 179.73057556152344
                    }
                },
                "velocity": {
                    "x": -8.357343673706055,
                    "y": 0.04147421196103096,
                    "z": 0.03400304540991783
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.426228523254395,
                "transform": {
                    "location": {
                        "x": 9.127812385559082,
                        "y": 4294.30029296875,
                        "z": 372.28619384765625
                    },
                    "rotation": {
                        "roll": -0.006652831565588713,
                        "pitch": 0.26074928045272827,
                        "yaw": -179.8747100830078
                    }
                },
                "velocity": {
                    "x": -8.420357704162598,
                    "y": -0.058135874569416046,
                    "z": 0.30906906723976135
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.12031560391187668,
        "expert_target_speed": 10.0,
        "target_point": [
            34.12503756197393,
            -0.09303992867181382
        ],
        "target_point_next": [
            85.12473123658101,
            0.08620098807094079
        ]
    },
    "100": {
        "acceleration": [
            -1.3240242004394531,
            0.25915682315826416,
            -0.007480829954147339
        ],
        "angular_velocity": [
            -0.024541296064853668,
            -0.3624719977378845,
            0.24003972113132477
        ],
        "forward_vector": [
            -0.9998462796211243,
            0.015367936342954636,
            0.008445161394774914
        ],
        "right_vector": [
            -0.015381642617285252,
            -0.9998805522918701,
            -0.0015604188665747643
        ],
        "location": [
            -28.045780181884766,
            4291.09033203125,
            372.5048828125
        ],
        "rotation": [
            0.08940863609313965,
            0.48387789726257324,
            179.11941528320312
        ],
        "velocity": [
            -10.9403657913208,
            0.1838623434305191,
            0.04505222290754318
        ],
        "speed": 10.941910665383546,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.48396110534668,
        "front_vehicle_info": {
            "id": 3715,
            "type": "vehicle.ford.mustang",
            "location": [
                -49.52843475341797,
                4291.3095703125,
                372.5944519042969
            ],
            "velocity": [
                -7.790820598602295,
                0.04445319250226021,
                0.03302760049700737
            ],
            "speed_kmh": 28.047662728075576,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.721005439758301,
                "transform": {
                    "location": {
                        "x": -92.55093383789062,
                        "y": 4301.42431640625,
                        "z": 372.78118896484375
                    },
                    "rotation": {
                        "roll": 0.01279598381370306,
                        "pitch": -0.13702724874019623,
                        "yaw": -0.030578607693314552
                    }
                },
                "velocity": {
                    "x": 6.720733642578125,
                    "y": 0.042691998183727264,
                    "z": -0.04273255914449692
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.83670711517334,
                "transform": {
                    "location": {
                        "x": -92.54374694824219,
                        "y": 4298.173828125,
                        "z": 372.7728576660156
                    },
                    "rotation": {
                        "roll": -0.011260985396802425,
                        "pitch": -0.287653386592865,
                        "yaw": -0.001983642578125
                    }
                },
                "velocity": {
                    "x": 6.836210250854492,
                    "y": 0.04179784655570984,
                    "z": -0.07102575153112411
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054803848266602,
                "transform": {
                    "location": {
                        "x": -51.034217834472656,
                        "y": 4301.267578125,
                        "z": 372.6051025390625
                    },
                    "rotation": {
                        "roll": 0.000580651278141886,
                        "pitch": -0.23788180947303772,
                        "yaw": -0.3231506049633026
                    }
                },
                "velocity": {
                    "x": 8.054606437683105,
                    "y": -0.04535631462931633,
                    "z": -0.03352272883057594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057387351989746,
                "transform": {
                    "location": {
                        "x": -51.07546615600586,
                        "y": 4298.01806640625,
                        "z": 372.605224609375
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.2375812828540802,
                        "yaw": -0.3116454780101776
                    }
                },
                "velocity": {
                    "x": 8.057183265686035,
                    "y": -0.04648738354444504,
                    "z": -0.0334516316652298
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3717,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.3369525372982025,
                "transform": {
                    "location": {
                        "x": 11.640703201293945,
                        "y": 4290.974609375,
                        "z": 372.3328857421875
                    },
                    "rotation": {
                        "roll": 0.0021312558092176914,
                        "pitch": -0.17538559436798096,
                        "yaw": 179.7407989501953
                    }
                },
                "velocity": {
                    "x": -0.336942583322525,
                    "y": 0.001792395836673677,
                    "z": 0.001868295599706471
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3716,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.046614646911621,
                "transform": {
                    "location": {
                        "x": -3.6496875286102295,
                        "y": 4291.08544921875,
                        "z": 372.40631103515625
                    },
                    "rotation": {
                        "roll": 0.0077436999417841434,
                        "pitch": 0.6106735467910767,
                        "yaw": -179.74583435058594
                    }
                },
                "velocity": {
                    "x": -4.046570777893066,
                    "y": -0.005340402014553547,
                    "z": 0.01812591589987278
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3715,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.791017532348633,
                "transform": {
                    "location": {
                        "x": -49.52843475341797,
                        "y": 4291.3095703125,
                        "z": 372.5944519042969
                    },
                    "rotation": {
                        "roll": 4.625008659786545e-05,
                        "pitch": 0.23889951407909393,
                        "yaw": 179.67311096191406
                    }
                },
                "velocity": {
                    "x": -7.790820598602295,
                    "y": 0.04445319250226021,
                    "z": 0.03302760049700737
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3714,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.035652160644531,
                "transform": {
                    "location": {
                        "x": -65.21171569824219,
                        "y": 4291.40283203125,
                        "z": 372.6593322753906
                    },
                    "rotation": {
                        "roll": 0.00021379363897722214,
                        "pitch": 0.2363518476486206,
                        "yaw": 179.67791748046875
                    }
                },
                "velocity": {
                    "x": -8.0354585647583,
                    "y": 0.04515102133154869,
                    "z": 0.03277382627129555
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.31625509262085,
                "transform": {
                    "location": {
                        "x": -9.176562309265137,
                        "y": 4294.3203125,
                        "z": 372.4193420410156
                    },
                    "rotation": {
                        "roll": 0.00041909064748324454,
                        "pitch": 0.1672235131263733,
                        "yaw": 179.67147827148438
                    }
                },
                "velocity": {
                    "x": -7.316062927246094,
                    "y": 0.041926588863134384,
                    "z": 0.03252058103680611
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.643894195556641,
                "transform": {
                    "location": {
                        "x": -25.8995304107666,
                        "y": 4294.41845703125,
                        "z": 372.498046875
                    },
                    "rotation": {
                        "roll": 0.0016995823243632913,
                        "pitch": -0.07352015376091003,
                        "yaw": 179.66253662109375
                    }
                },
                "velocity": {
                    "x": -7.643682479858398,
                    "y": 0.04616284742951393,
                    "z": 0.033263061195611954
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.816258430480957,
                "transform": {
                    "location": {
                        "x": -44.75202941894531,
                        "y": 4294.5341796875,
                        "z": 372.5754699707031
                    },
                    "rotation": {
                        "roll": 0.004068070091307163,
                        "pitch": 0.24008797109127045,
                        "yaw": 179.6874237060547
                    }
                },
                "velocity": {
                    "x": -7.816075325012207,
                    "y": 0.04227454587817192,
                    "z": 0.03279434144496918
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.899839401245117,
                "transform": {
                    "location": {
                        "x": 7.067812442779541,
                        "y": 4294.29296875,
                        "z": 372.3439025878906
                    },
                    "rotation": {
                        "roll": 0.0028627959545701742,
                        "pitch": 0.25400790572166443,
                        "yaw": -179.6029815673828
                    }
                },
                "velocity": {
                    "x": -7.898879051208496,
                    "y": -0.03205692395567894,
                    "z": 0.11893367767333984
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.0896993950009346,
        "expert_target_speed": 10.0,
        "target_point": [
            31.433492643270267,
            0.10514776340341297
        ],
        "target_point_next": [
            82.43121870841544,
            0.5876603481129508
        ]
    },
    "105": {
        "acceleration": [
            1.0479927062988281,
            0.22350788116455078,
            -0.0014890730381011963
        ],
        "angular_velocity": [
            0.01989012397825718,
            -0.8142184019088745,
            -3.0025572776794434
        ],
        "forward_vector": [
            -0.9997509717941284,
            0.02140807919204235,
            0.006296235136687756
        ],
        "right_vector": [
            -0.021418234333395958,
            -0.999769389629364,
            -0.0015498405555263162
        ],
        "location": [
            -30.80109214782715,
            4291.1435546875,
            372.5168151855469
        ],
        "rotation": [
            0.08880111575126648,
            0.36075007915496826,
            178.77328491210938
        ],
        "velocity": [
            -10.987358093261719,
            0.24649569392204285,
            0.04477834701538086
        ],
        "speed": 10.990122747116427,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.636193752288818,
                "transform": {
                    "location": {
                        "x": -90.88195037841797,
                        "y": 4301.43359375,
                        "z": 372.7737731933594
                    },
                    "rotation": {
                        "roll": 0.0010002427734434605,
                        "pitch": -0.22094978392124176,
                        "yaw": 0.2540740668773651
                    }
                },
                "velocity": {
                    "x": 6.635948181152344,
                    "y": 0.049535587430000305,
                    "z": -0.028338564559817314
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.762216567993164,
                "transform": {
                    "location": {
                        "x": -90.84390258789062,
                        "y": 4298.18310546875,
                        "z": 372.7603759765625
                    },
                    "rotation": {
                        "roll": -0.00689697265625,
                        "pitch": -0.24746456742286682,
                        "yaw": 0.31433582305908203
                    }
                },
                "velocity": {
                    "x": 6.761919021606445,
                    "y": 0.0518232136964798,
                    "z": -0.03658207878470421
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05467700958252,
                "transform": {
                    "location": {
                        "x": -49.02109146118164,
                        "y": 4301.255859375,
                        "z": 372.59674072265625
                    },
                    "rotation": {
                        "roll": 0.0013215518556535244,
                        "pitch": -0.2398352473974228,
                        "yaw": -0.32583609223365784
                    }
                },
                "velocity": {
                    "x": 8.054471015930176,
                    "y": -0.04680391028523445,
                    "z": -0.03364984318614006
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049251556396484,
                "transform": {
                    "location": {
                        "x": -49.0627326965332,
                        "y": 4298.00634765625,
                        "z": 372.59686279296875
                    },
                    "rotation": {
                        "roll": -0.0017395016038790345,
                        "pitch": -0.23916588723659515,
                        "yaw": -0.34625235199928284
                    }
                },
                "velocity": {
                    "x": 8.049052238464355,
                    "y": -0.04638452082872391,
                    "z": -0.032598599791526794
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.2985639572143555,
                "transform": {
                    "location": {
                        "x": -10.970468521118164,
                        "y": 4294.33056640625,
                        "z": 372.4267578125
                    },
                    "rotation": {
                        "roll": 5.669789607054554e-05,
                        "pitch": 0.22273245453834534,
                        "yaw": 179.67153930664062
                    }
                },
                "velocity": {
                    "x": -7.298372745513916,
                    "y": 0.04178513586521149,
                    "z": 0.032366130501031876
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.421122550964355,
                "transform": {
                    "location": {
                        "x": -27.91781234741211,
                        "y": 4294.43017578125,
                        "z": 372.50494384765625
                    },
                    "rotation": {
                        "roll": 0.0007103682146407664,
                        "pitch": 0.35812729597091675,
                        "yaw": 179.6575927734375
                    }
                },
                "velocity": {
                    "x": -8.420907020568848,
                    "y": 0.05037872493267059,
                    "z": 0.03308120742440224
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.073150634765625,
                "transform": {
                    "location": {
                        "x": -46.72359085083008,
                        "y": 4294.54443359375,
                        "z": 372.5836181640625
                    },
                    "rotation": {
                        "roll": 0.0029017068445682526,
                        "pitch": 0.2841290235519409,
                        "yaw": 179.70204162597656
                    }
                },
                "velocity": {
                    "x": -8.072962760925293,
                    "y": 0.043918244540691376,
                    "z": 0.033279359340667725
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.254052639007568,
                "transform": {
                    "location": {
                        "x": 5.183437347412109,
                        "y": 4294.28564453125,
                        "z": 372.35931396484375
                    },
                    "rotation": {
                        "roll": 0.003558321623131633,
                        "pitch": 0.23429596424102783,
                        "yaw": -179.65626525878906
                    }
                },
                "velocity": {
                    "x": -7.253931522369385,
                    "y": -0.024388866499066353,
                    "z": 0.03402832895517349
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.05606212466955185,
        "expert_target_speed": 10.0,
        "target_point": [
            28.6764638347767,
            0.2892747779842919
        ],
        "target_point_next": [
            79.67034409810339,
            1.079880811033546
        ]
    },
    "110": {
        "acceleration": [
            1.2586593627929688,
            0.21381378173828125,
            0.0003442913293838501
        ],
        "angular_velocity": [
            -0.011856140568852425,
            -0.37252378463745117,
            0.5163774490356445
        ],
        "forward_vector": [
            -0.999636173248291,
            0.02681986801326275,
            0.002871389966458082
        ],
        "right_vector": [
            -0.026824284344911575,
            -0.9996390342712402,
            -0.0015110119711607695
        ],
        "location": [
            -33.489219665527344,
            4291.2109375,
            372.5287170410156
        ],
        "rotation": [
            0.0865749940276146,
            0.16451875865459442,
            178.46315002441406
        ],
        "velocity": [
            -10.556513786315918,
            0.2976514995098114,
            0.04499554634094238
        ],
        "speed": 10.560709243977815,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.7083258628845215,
                "transform": {
                    "location": {
                        "x": -89.21359252929688,
                        "y": 4301.439453125,
                        "z": 372.7670593261719
                    },
                    "rotation": {
                        "roll": -0.007476805709302425,
                        "pitch": -0.2334900051355362,
                        "yaw": 0.19479355216026306
                    }
                },
                "velocity": {
                    "x": 6.708267688751221,
                    "y": 0.00616665231063962,
                    "z": -0.02719879522919655
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.763315677642822,
                "transform": {
                    "location": {
                        "x": -89.22999572753906,
                        "y": 4298.189453125,
                        "z": 372.75311279296875
                    },
                    "rotation": {
                        "roll": 0.0026354165747761726,
                        "pitch": -0.2949207127094269,
                        "yaw": 0.23070046305656433
                    }
                },
                "velocity": {
                    "x": 5.763261795043945,
                    "y": 0.006177645176649094,
                    "z": -0.02416524849832058
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049327850341797,
                "transform": {
                    "location": {
                        "x": -47.00843811035156,
                        "y": 4301.244140625,
                        "z": 372.5883483886719
                    },
                    "rotation": {
                        "roll": 0.0009379363618791103,
                        "pitch": -0.23916588723659515,
                        "yaw": -0.33099365234375
                    }
                },
                "velocity": {
                    "x": 8.049124717712402,
                    "y": -0.04642792046070099,
                    "z": -0.03326614201068878
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053764343261719,
                "transform": {
                    "location": {
                        "x": -47.05007553100586,
                        "y": 4297.99462890625,
                        "z": 372.5885009765625
                    },
                    "rotation": {
                        "roll": -0.0025024416390806437,
                        "pitch": -0.238803893327713,
                        "yaw": -0.3125
                    }
                },
                "velocity": {
                    "x": 8.053559303283691,
                    "y": -0.04656332731246948,
                    "z": -0.03360062465071678
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.258505821228027,
                "transform": {
                    "location": {
                        "x": -12.909921646118164,
                        "y": 4294.341796875,
                        "z": 372.4346923828125
                    },
                    "rotation": {
                        "roll": 0.00029451321461237967,
                        "pitch": 0.2947841286659241,
                        "yaw": 179.67340087890625
                    }
                },
                "velocity": {
                    "x": -8.258296012878418,
                    "y": 0.04748712480068207,
                    "z": 0.034702643752098083
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.143736839294434,
                "transform": {
                    "location": {
                        "x": -30.12679672241211,
                        "y": 4294.443359375,
                        "z": 372.5135192871094
                    },
                    "rotation": {
                        "roll": 1.4099859072302934e-05,
                        "pitch": 0.5328025221824646,
                        "yaw": 179.65797424316406
                    }
                },
                "velocity": {
                    "x": -9.143498420715332,
                    "y": 0.054631028324365616,
                    "z": 0.037142932415008545
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.091050148010254,
                "transform": {
                    "location": {
                        "x": -48.760311126708984,
                        "y": 4294.55615234375,
                        "z": 372.5920104980469
                    },
                    "rotation": {
                        "roll": 0.003030535066500306,
                        "pitch": 0.2867996394634247,
                        "yaw": 179.6648712158203
                    }
                },
                "velocity": {
                    "x": -8.090855598449707,
                    "y": 0.04548840597271919,
                    "z": 0.03292224928736687
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.997011184692383,
                "transform": {
                    "location": {
                        "x": 3.4056248664855957,
                        "y": 4294.27978515625,
                        "z": 372.36676025390625
                    },
                    "rotation": {
                        "roll": 0.0043094949796795845,
                        "pitch": 0.2535844147205353,
                        "yaw": -179.81077575683594
                    }
                },
                "velocity": {
                    "x": -6.996945858001709,
                    "y": -0.005967886187136173,
                    "z": 0.029603395611047745
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.015080702491104603,
        "expert_target_speed": 10.0,
        "target_point": [
            25.98551010613195,
            0.4397605593806802
        ],
        "target_point_next": [
            76.97436370775887,
            1.5063863615484903
        ]
    },
    "115": {
        "acceleration": [
            5.759468078613281,
            0.012006163597106934,
            -0.019708797335624695
        ],
        "angular_velocity": [
            -0.08363711833953857,
            -1.3925039768218994,
            -1.6908341646194458
        ],
        "forward_vector": [
            -0.9994771480560303,
            0.03224940598011017,
            -0.002321717794984579
        ],
        "right_vector": [
            -0.03224615007638931,
            -0.9994789361953735,
            -0.0014258403098210692
        ],
        "location": [
            -35.99976348876953,
            4291.28759765625,
            372.5403747558594
        ],
        "rotation": [
            0.08169487863779068,
            -0.13302475214004517,
            178.15191650390625
        ],
        "velocity": [
            -9.271897315979004,
            0.3144260346889496,
            0.03905579447746277
        ],
        "speed": 9.277227148741638,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.079951286315918,
                "transform": {
                    "location": {
                        "x": -87.61000061035156,
                        "y": 4301.44189453125,
                        "z": 372.76019287109375
                    },
                    "rotation": {
                        "roll": -0.0030517578125,
                        "pitch": -0.185057133436203,
                        "yaw": 0.09551142156124115
                    }
                },
                "velocity": {
                    "x": 6.079897880554199,
                    "y": 0.003005445469170809,
                    "z": -0.025409473106265068
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.73638916015625,
                "transform": {
                    "location": {
                        "x": -87.82241821289062,
                        "y": 4298.19140625,
                        "z": 372.7469482421875
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": -0.2581811249256134,
                        "yaw": 0.10764960199594498
                    }
                },
                "velocity": {
                    "x": 5.736337184906006,
                    "y": 0.0031576722394675016,
                    "z": -0.024154189974069595
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059327125549316,
                "transform": {
                    "location": {
                        "x": -44.994686126708984,
                        "y": 4301.232421875,
                        "z": 372.5799865722656
                    },
                    "rotation": {
                        "roll": 0.00041338143637403846,
                        "pitch": -0.2395278960466385,
                        "yaw": -0.3348998427391052
                    }
                },
                "velocity": {
                    "x": 8.05911922454834,
                    "y": -0.047165654599666595,
                    "z": -0.03346504643559456
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0513334274292,
                "transform": {
                    "location": {
                        "x": -45.03640365600586,
                        "y": 4297.98291015625,
                        "z": 372.5801086425781
                    },
                    "rotation": {
                        "roll": 7.338338036788628e-05,
                        "pitch": -0.2396918088197708,
                        "yaw": -0.3455199897289276
                    }
                },
                "velocity": {
                    "x": 8.05113410949707,
                    "y": -0.04614818096160889,
                    "z": -0.03277304396033287
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.994867324829102,
                "transform": {
                    "location": {
                        "x": -15.105390548706055,
                        "y": 4294.3544921875,
                        "z": 372.4441223144531
                    },
                    "rotation": {
                        "roll": -0.0006408690242096782,
                        "pitch": 0.29746153950691223,
                        "yaw": 179.6668701171875
                    }
                },
                "velocity": {
                    "x": -8.994635581970215,
                    "y": 0.05229906737804413,
                    "z": 0.0377718061208725
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.692851066589355,
                "transform": {
                    "location": {
                        "x": -32.36640548706055,
                        "y": 4294.45703125,
                        "z": 372.5237121582031
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": 0.2617942988872528,
                        "yaw": 179.65771484375
                    }
                },
                "velocity": {
                    "x": -8.692618370056152,
                    "y": 0.05194476991891861,
                    "z": 0.036749064922332764
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.936380386352539,
                "transform": {
                    "location": {
                        "x": -50.75398254394531,
                        "y": 4294.56787109375,
                        "z": 372.6005859375
                    },
                    "rotation": {
                        "roll": 0.000593983568251133,
                        "pitch": 0.2088261991739273,
                        "yaw": 179.6965789794922
                    }
                },
                "velocity": {
                    "x": -7.936190128326416,
                    "y": 0.04417113587260246,
                    "z": 0.03279631584882736
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.486830234527588,
                "transform": {
                    "location": {
                        "x": 1.6703906059265137,
                        "y": 4294.27880859375,
                        "z": 372.3744201660156
                    },
                    "rotation": {
                        "roll": 0.002333609852939844,
                        "pitch": 0.24101004004478455,
                        "yaw": 179.9781951904297
                    }
                },
                "velocity": {
                    "x": -6.486758708953857,
                    "y": 0.009500151500105858,
                    "z": 0.028893297538161278
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0353906974196434,
        "expert_target_speed": 9.526362208664448,
        "target_point": [
            23.471027952895266,
            0.5765551530255036
        ],
        "target_point_next": [
            74.45333588651187,
            1.9201175713321015
        ]
    },
    "120": {
        "acceleration": [
            2.2725677490234375,
            -0.31108200550079346,
            -0.0036031007766723633
        ],
        "angular_velocity": [
            -0.3818913996219635,
            0.5012698769569397,
            0.7264651656150818
        ],
        "forward_vector": [
            -0.9993851780891418,
            0.03495626896619797,
            -0.0026924575213342905
        ],
        "right_vector": [
            -0.03495508059859276,
            -0.9993887543678284,
            -0.00048726657405495644
        ],
        "location": [
            -38.2033576965332,
            4291.36376953125,
            372.5495910644531
        ],
        "rotation": [
            0.02791842259466648,
            -0.15426664054393768,
            177.99673461914062
        ],
        "velocity": [
            -8.492417335510254,
            0.28616800904273987,
            0.03664242848753929
        ],
        "speed": 8.49723745283575,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.470966339111328,
                "transform": {
                    "location": {
                        "x": -86.06437683105469,
                        "y": 4301.44189453125,
                        "z": 372.7543029785156
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": -0.24838665127754211,
                        "yaw": 0.052520751953125
                    }
                },
                "velocity": {
                    "x": 6.470913410186768,
                    "y": 0.003820538055151701,
                    "z": -0.02588435634970665
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.821326732635498,
                "transform": {
                    "location": {
                        "x": -86.32125091552734,
                        "y": 4298.19189453125,
                        "z": 372.7402648925781
                    },
                    "rotation": {
                        "roll": -0.0014038084773346782,
                        "pitch": -0.19039833545684814,
                        "yaw": 0.055587176233530045
                    }
                },
                "velocity": {
                    "x": 6.821269989013672,
                    "y": 0.0030693926382809877,
                    "z": -0.027689985930919647
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046427726745605,
                "transform": {
                    "location": {
                        "x": -42.98187255859375,
                        "y": 4301.220703125,
                        "z": 372.57159423828125
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.2401426136493683,
                        "yaw": -0.3319092094898224
                    }
                },
                "velocity": {
                    "x": 8.046222686767578,
                    "y": -0.04662999138236046,
                    "z": -0.03346675634384155
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051785469055176,
                "transform": {
                    "location": {
                        "x": -43.02288818359375,
                        "y": 4297.97119140625,
                        "z": 372.5717468261719
                    },
                    "rotation": {
                        "roll": 0.000636400596704334,
                        "pitch": -0.240108460187912,
                        "yaw": -0.3192443251609802
                    }
                },
                "velocity": {
                    "x": 8.051581382751465,
                    "y": -0.047344870865345,
                    "z": -0.03222924470901489
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.796681880950928,
                "transform": {
                    "location": {
                        "x": -17.224687576293945,
                        "y": 4294.3671875,
                        "z": 372.4538879394531
                    },
                    "rotation": {
                        "roll": -0.0007324217585846782,
                        "pitch": 0.19966690242290497,
                        "yaw": 179.66188049316406
                    }
                },
                "velocity": {
                    "x": -7.796472072601318,
                    "y": 0.045973047614097595,
                    "z": 0.03397424519062042
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.3692450523376465,
                "transform": {
                    "location": {
                        "x": -34.3713264465332,
                        "y": 4294.46875,
                        "z": 372.53363037109375
                    },
                    "rotation": {
                        "roll": -0.0004882814246229827,
                        "pitch": -0.1331135481595993,
                        "yaw": 179.65692138671875
                    }
                },
                "velocity": {
                    "x": -7.369045257568359,
                    "y": 0.04410587251186371,
                    "z": 0.031606681644916534
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.080642700195312,
                "transform": {
                    "location": {
                        "x": -52.7578125,
                        "y": 4294.57958984375,
                        "z": 372.6087341308594
                    },
                    "rotation": {
                        "roll": 0.001366160111501813,
                        "pitch": 0.26671886444091797,
                        "yaw": 179.6680145263672
                    }
                },
                "velocity": {
                    "x": -8.080436706542969,
                    "y": 0.047005899250507355,
                    "z": 0.03333953768014908
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.2423834800720215,
                "transform": {
                    "location": {
                        "x": 0.10781249403953552,
                        "y": 4294.28076171875,
                        "z": 372.3814392089844
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": 0.24403581023216248,
                        "yaw": 179.8557891845703
                    }
                },
                "velocity": {
                    "x": -6.242295265197754,
                    "y": 0.016155382618308067,
                    "z": 0.028988083824515343
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08553769439458847,
        "expert_target_speed": 8.982946786412072,
        "target_point": [
            21.264469850328545,
            0.6392293472726868
        ],
        "target_point_next": [
            72.24295113701393,
            2.1208932474402613
        ]
    },
    "125": {
        "acceleration": [
            1.3532829284667969,
            -0.1865088939666748,
            -0.016322508454322815
        ],
        "angular_velocity": [
            -0.16210688650608063,
            0.4641631543636322,
            0.7795159816741943
        ],
        "forward_vector": [
            -0.9995170831680298,
            0.031071100383996964,
            -0.0004261731810402125
        ],
        "right_vector": [
            -0.031071282923221588,
            -0.9995171427726746,
            0.00042237722664140165
        ],
        "location": [
            -40.26921844482422,
            4291.4287109375,
            372.5578308105469
        ],
        "rotation": [
            -0.0242004357278347,
            -0.024417925626039505,
            178.21946716308594
        ],
        "velocity": [
            -8.076326370239258,
            0.23631003499031067,
            0.03320956230163574
        ],
        "speed": 8.079782798519966,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.101622104644775,
                "transform": {
                    "location": {
                        "x": -84.33929443359375,
                        "y": 4301.4404296875,
                        "z": 372.7477722167969
                    },
                    "rotation": {
                        "roll": -0.004852294456213713,
                        "pitch": -0.3039229214191437,
                        "yaw": -0.0555114671587944
                    }
                },
                "velocity": {
                    "x": 7.101536750793457,
                    "y": -0.01908419467508793,
                    "z": -0.029139989987015724
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.411261558532715,
                "transform": {
                    "location": {
                        "x": -84.34515380859375,
                        "y": 4298.19091796875,
                        "z": 372.73175048828125
                    },
                    "rotation": {
                        "roll": 0.002552146092057228,
                        "pitch": -0.13534702360630035,
                        "yaw": -0.0457458458840847
                    }
                },
                "velocity": {
                    "x": 8.41116714477539,
                    "y": -0.021084703505039215,
                    "z": -0.03369597718119621
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0598726272583,
                "transform": {
                    "location": {
                        "x": -40.96828079223633,
                        "y": 4301.208984375,
                        "z": 372.563232421875
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": -0.23998551070690155,
                        "yaw": -0.33154296875
                    }
                },
                "velocity": {
                    "x": 8.059667587280273,
                    "y": -0.04670565202832222,
                    "z": -0.03352198004722595
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052155494689941,
                "transform": {
                    "location": {
                        "x": -41.00929641723633,
                        "y": 4297.95947265625,
                        "z": 372.5633544921875
                    },
                    "rotation": {
                        "roll": 0.0016989132855087519,
                        "pitch": -0.2398967146873474,
                        "yaw": -0.3495788276195526
                    }
                },
                "velocity": {
                    "x": 8.051942825317383,
                    "y": -0.04780619218945503,
                    "z": -0.033623360097408295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.687331676483154,
                "transform": {
                    "location": {
                        "x": -19.006328582763672,
                        "y": 4294.37744140625,
                        "z": 372.461669921875
                    },
                    "rotation": {
                        "roll": -0.00021362303232308477,
                        "pitch": 0.17387612164020538,
                        "yaw": 179.66122436523438
                    }
                },
                "velocity": {
                    "x": -6.687150955200195,
                    "y": 0.03950032964348793,
                    "z": 0.029268179088830948
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.288364887237549,
                "transform": {
                    "location": {
                        "x": -36.171016693115234,
                        "y": 4294.47998046875,
                        "z": 372.54058837890625
                    },
                    "rotation": {
                        "roll": 4.655571319744922e-05,
                        "pitch": 0.029827434569597244,
                        "yaw": 179.65679931640625
                    }
                },
                "velocity": {
                    "x": -7.288171768188477,
                    "y": 0.04364752024412155,
                    "z": 0.0302587877959013
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.016925811767578,
                "transform": {
                    "location": {
                        "x": -54.77304458618164,
                        "y": 4294.59130859375,
                        "z": 372.6170959472656
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": 0.24139253795146942,
                        "yaw": 179.6885223388672
                    }
                },
                "velocity": {
                    "x": -8.016733169555664,
                    "y": 0.044496193528175354,
                    "z": 0.0331416018307209
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.090339660644531,
                "transform": {
                    "location": {
                        "x": -1.5505468845367432,
                        "y": 4294.28564453125,
                        "z": 372.38861083984375
                    },
                    "rotation": {
                        "roll": 0.0015235074097290635,
                        "pitch": 0.27822092175483704,
                        "yaw": 179.79676818847656
                    }
                },
                "velocity": {
                    "x": -7.090220928192139,
                    "y": 0.02735023759305477,
                    "z": 0.03063257224857807
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11055078357458115,
        "expert_target_speed": 8.674801517620256,
        "target_point": [
            19.19991314876207,
            0.5572776513590757
        ],
        "target_point_next": [
            70.18376937652577,
            1.8407441903512543
        ]
    },
    "130": {
        "acceleration": [
            0.08708000183105469,
            -0.14427751302719116,
            -1.4901161193847656e-06
        ],
        "angular_velocity": [
            0.020887691527605057,
            0.5198306441307068,
            1.2130680084228516
        ],
        "forward_vector": [
            -0.9996440410614014,
            0.026631183922290802,
            0.0016221991972997785
        ],
        "right_vector": [
            -0.026629962027072906,
            -0.9996451139450073,
            0.000771250284742564
        ],
        "location": [
            -42.26007843017578,
            4291.48291015625,
            372.56561279296875
        ],
        "rotation": [
            -0.0441894456744194,
            0.09294521063566208,
            178.47396850585938
        ],
        "velocity": [
            -7.907980918884277,
            0.19556576013565063,
            0.03304535895586014
        ],
        "speed": 7.910398737103917,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.728830337524414,
                "transform": {
                    "location": {
                        "x": -82.3285903930664,
                        "y": 4301.43505859375,
                        "z": 372.7401123046875
                    },
                    "rotation": {
                        "roll": -0.0019531248835846782,
                        "pitch": -0.37923941016197205,
                        "yaw": -0.1367797702550888
                    }
                },
                "velocity": {
                    "x": 8.72872257232666,
                    "y": -0.024674884974956512,
                    "z": -0.03568430244922638
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.036431312561035,
                "transform": {
                    "location": {
                        "x": -82.27983856201172,
                        "y": 4298.18603515625,
                        "z": 372.72406005859375
                    },
                    "rotation": {
                        "roll": 0.0016408995725214481,
                        "pitch": -0.23168683052062988,
                        "yaw": -0.1540527194738388
                    }
                },
                "velocity": {
                    "x": 8.03632640838623,
                    "y": -0.024484451860189438,
                    "z": -0.032884381711483
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046774864196777,
                "transform": {
                    "location": {
                        "x": -38.95492172241211,
                        "y": 4301.197265625,
                        "z": 372.5548400878906
                    },
                    "rotation": {
                        "roll": -0.00024414065410383046,
                        "pitch": -0.2404772937297821,
                        "yaw": -0.331939697265625
                    }
                },
                "velocity": {
                    "x": 8.046573638916016,
                    "y": -0.04661507532000542,
                    "z": -0.03255369886755943
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051721572875977,
                "transform": {
                    "location": {
                        "x": -38.99562454223633,
                        "y": 4297.94775390625,
                        "z": 372.5549621582031
                    },
                    "rotation": {
                        "roll": 0.0005180998705327511,
                        "pitch": -0.23971913754940033,
                        "yaw": -0.31857290863990784
                    }
                },
                "velocity": {
                    "x": 8.05151081085205,
                    "y": -0.047429729253053665,
                    "z": -0.03370572626590729
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.728100299835205,
                "transform": {
                    "location": {
                        "x": -20.652265548706055,
                        "y": 4294.38720703125,
                        "z": 372.4682312011719
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": 0.23053936660289764,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": -6.727919578552246,
                    "y": 0.03973431885242462,
                    "z": 0.029215935617685318
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.237980842590332,
                "transform": {
                    "location": {
                        "x": -38.12156295776367,
                        "y": 4294.49169921875,
                        "z": 372.54718017578125
                    },
                    "rotation": {
                        "roll": -0.00018310554150957614,
                        "pitch": 0.43963193893432617,
                        "yaw": 179.65733337402344
                    }
                },
                "velocity": {
                    "x": -8.237761497497559,
                    "y": 0.04934341832995415,
                    "z": 0.03424815088510513
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.007733345031738,
                "transform": {
                    "location": {
                        "x": -56.772499084472656,
                        "y": 4294.60302734375,
                        "z": 372.62542724609375
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": 0.23458966612815857,
                        "yaw": 179.66070556640625
                    }
                },
                "velocity": {
                    "x": -8.007534980773926,
                    "y": 0.04571857303380966,
                    "z": 0.033031053841114044
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.6092963218688965,
                "transform": {
                    "location": {
                        "x": -3.431093692779541,
                        "y": 4294.29296875,
                        "z": 372.39697265625
                    },
                    "rotation": {
                        "roll": 0.0012401503045111895,
                        "pitch": 0.27869901061058044,
                        "yaw": 179.74244689941406
                    }
                },
                "velocity": {
                    "x": -7.609142303466797,
                    "y": 0.035057321190834045,
                    "z": 0.03335518762469292
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.139895498752594,
        "expert_target_speed": 8.546308281468287,
        "target_point": [
            17.21060175389163,
            0.47315274133168556
        ],
        "target_point_next": [
            68.19965585479167,
            1.5301504260406293
        ]
    },
    "135": {
        "acceleration": [
            -1.1540031433105469,
            -0.027424097061157227,
            0.0028493255376815796
        ],
        "angular_velocity": [
            0.15981821715831757,
            0.5593934655189514,
            0.2902526557445526
        ],
        "forward_vector": [
            -0.9997207522392273,
            0.023280860856175423,
            0.004054177086800337
        ],
        "right_vector": [
            -0.023278458043932915,
            -0.9997288584709167,
            0.0006391534116119146
        ],
        "location": [
            -44.254451751708984,
            4291.52978515625,
            372.57342529296875
        ],
        "rotation": [
            -0.0366210974752903,
            0.23228788375854492,
            178.6659698486328
        ],
        "velocity": [
            -8.080166816711426,
            0.18075016140937805,
            0.033009231090545654
        ],
        "speed": 8.08218821896236,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.088017463684082,
                "transform": {
                    "location": {
                        "x": -80.22062683105469,
                        "y": 4301.42919921875,
                        "z": 372.7300720214844
                    },
                    "rotation": {
                        "roll": -0.003082275390625,
                        "pitch": -0.21453623473644257,
                        "yaw": -0.1761779636144638
                    }
                },
                "velocity": {
                    "x": 8.087881088256836,
                    "y": -0.03320353478193283,
                    "z": -0.033140189945697784
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.919151306152344,
                "transform": {
                    "location": {
                        "x": -80.30695343017578,
                        "y": 4298.1796875,
                        "z": 372.71600341796875
                    },
                    "rotation": {
                        "roll": 0.0008672234253026545,
                        "pitch": -0.2409963756799698,
                        "yaw": -0.1848449409008026
                    }
                },
                "velocity": {
                    "x": 7.9190192222595215,
                    "y": -0.03199576959013939,
                    "z": -0.03273742273449898
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058664321899414,
                "transform": {
                    "location": {
                        "x": -36.94148254394531,
                        "y": 4301.185546875,
                        "z": 372.54644775390625
                    },
                    "rotation": {
                        "roll": 0.0005724490620195866,
                        "pitch": -0.24004697799682617,
                        "yaw": -0.3315734565258026
                    }
                },
                "velocity": {
                    "x": 8.058463096618652,
                    "y": -0.04662681370973587,
                    "z": -0.03274248167872429
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053094863891602,
                "transform": {
                    "location": {
                        "x": -36.98195266723633,
                        "y": 4297.93603515625,
                        "z": 372.5465393066406
                    },
                    "rotation": {
                        "roll": 0.0011671684915199876,
                        "pitch": -0.23998551070690155,
                        "yaw": -0.3524169921875
                    }
                },
                "velocity": {
                    "x": 8.052884101867676,
                    "y": -0.047835223376750946,
                    "z": -0.033099353313446045
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -121.22179412841797,
                        "y": 4298.3330078125,
                        "z": 372.99322509765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22500690817832947,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -121.20257568359375,
                        "y": 4301.5830078125,
                        "z": 372.99322509765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22500690817832947,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.873383522033691,
                "transform": {
                    "location": {
                        "x": -22.47687530517578,
                        "y": 4294.39794921875,
                        "z": 372.4754943847656
                    },
                    "rotation": {
                        "roll": 0.00020196301920805126,
                        "pitch": 0.29469531774520874,
                        "yaw": 179.66067504882812
                    }
                },
                "velocity": {
                    "x": -7.873176574707031,
                    "y": 0.046416301280260086,
                    "z": 0.033228930085897446
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.358315467834473,
                "transform": {
                    "location": {
                        "x": -40.29695129394531,
                        "y": 4294.50439453125,
                        "z": 372.555419921875
                    },
                    "rotation": {
                        "roll": -3.051775638596155e-05,
                        "pitch": 0.6591951847076416,
                        "yaw": 179.65785217285156
                    }
                },
                "velocity": {
                    "x": -9.358068466186523,
                    "y": 0.0559052899479866,
                    "z": 0.03865371644496918
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.046565055847168,
                "transform": {
                    "location": {
                        "x": -58.7814826965332,
                        "y": 4294.61474609375,
                        "z": 372.6336669921875
                    },
                    "rotation": {
                        "roll": -0.00045776349725201726,
                        "pitch": 0.2528262734413147,
                        "yaw": 179.68280029296875
                    }
                },
                "velocity": {
                    "x": -8.046363830566406,
                    "y": 0.04635785520076752,
                    "z": 0.032908838242292404
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.479141235351562,
                "transform": {
                    "location": {
                        "x": -5.548437595367432,
                        "y": 4294.30224609375,
                        "z": 372.4064025878906
                    },
                    "rotation": {
                        "roll": 0.000962884456384927,
                        "pitch": 0.2763289511203766,
                        "yaw": 179.7103271484375
                    }
                },
                "velocity": {
                    "x": -8.478958129882812,
                    "y": 0.041529539972543716,
                    "z": 0.0372181199491024
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15449431538581848,
        "expert_target_speed": 8.676111239818372,
        "target_point": [
            15.217166678102977,
            0.41590533571869026
        ],
        "target_point_next": [
            66.20947667617205,
            1.3020222979858556
        ]
    },
    "140": {
        "acceleration": [
            -1.7304039001464844,
            0.034995973110198975,
            -0.0057888031005859375
        ],
        "angular_velocity": [
            0.09448624402284622,
            0.3659755289554596,
            0.4586530923843384
        ],
        "forward_vector": [
            -0.9997513294219971,
            0.021451013162732124,
            0.0060934643261134624
        ],
        "right_vector": [
            -0.021448634564876556,
            -0.9997698068618774,
            0.00045539208804257214
        ],
        "location": [
            -46.32366943359375,
            4291.5751953125,
            372.5816650390625
        ],
        "rotation": [
            -0.026092529296875,
            0.3491319417953491,
            178.7708282470703
        ],
        "velocity": [
            -8.470074653625488,
            0.17789959907531738,
            0.03321024030447006
        ],
        "speed": 8.471942687798359,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.886090278625488,
                "transform": {
                    "location": {
                        "x": -78.24327850341797,
                        "y": 4301.42041015625,
                        "z": 372.72186279296875
                    },
                    "rotation": {
                        "roll": -0.0013732911320403218,
                        "pitch": -0.20657223463058472,
                        "yaw": -0.2373352199792862
                    }
                },
                "velocity": {
                    "x": 7.885935306549072,
                    "y": -0.03646528348326683,
                    "z": -0.03339490666985512
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.180122375488281,
                "transform": {
                    "location": {
                        "x": -78.28054809570312,
                        "y": 4298.17138671875,
                        "z": 372.7074890136719
                    },
                    "rotation": {
                        "roll": 0.000911000941414386,
                        "pitch": -0.22640709578990936,
                        "yaw": -0.248260498046875
                    }
                },
                "velocity": {
                    "x": 8.179966926574707,
                    "y": -0.03781427815556526,
                    "z": -0.03348506987094879
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046639442443848,
                "transform": {
                    "location": {
                        "x": -34.928592681884766,
                        "y": 4301.173828125,
                        "z": 372.53802490234375
                    },
                    "rotation": {
                        "roll": 0.0010049354750663042,
                        "pitch": -0.2398352473974228,
                        "yaw": -0.3348693549633026
                    }
                },
                "velocity": {
                    "x": 8.046431541442871,
                    "y": -0.04706880450248718,
                    "z": -0.033745404332876205
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051220893859863,
                "transform": {
                    "location": {
                        "x": -34.96828079223633,
                        "y": 4297.92431640625,
                        "z": 372.53814697265625
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -0.24004697799682617,
                        "yaw": -0.3231200873851776
                    }
                },
                "velocity": {
                    "x": 8.051005363464355,
                    "y": -0.0480576753616333,
                    "z": -0.03402731940150261
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -119.14984130859375,
                        "y": 4298.32080078125,
                        "z": 372.8885498046875
                    },
                    "rotation": {
                        "roll": -5.2110614434663916e-11,
                        "pitch": -0.22637978196144104,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -119.13062286376953,
                        "y": 4301.57080078125,
                        "z": 372.8885498046875
                    },
                    "rotation": {
                        "roll": -5.2110614434663916e-11,
                        "pitch": -0.22637978196144104,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.052136421203613,
                "transform": {
                    "location": {
                        "x": -24.598047256469727,
                        "y": 4294.41064453125,
                        "z": 372.4842529296875
                    },
                    "rotation": {
                        "roll": 0.00018115997954737395,
                        "pitch": 0.31907910108566284,
                        "yaw": 179.66082763671875
                    }
                },
                "velocity": {
                    "x": -9.051902770996094,
                    "y": 0.05347731336951256,
                    "z": 0.037037983536720276
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.71233081817627,
                "transform": {
                    "location": {
                        "x": -42.71726608276367,
                        "y": 4294.5185546875,
                        "z": 372.56585693359375
                    },
                    "rotation": {
                        "roll": 0.001535754301585257,
                        "pitch": 0.5553489923477173,
                        "yaw": 179.65611267089844
                    }
                },
                "velocity": {
                    "x": -9.712064743041992,
                    "y": 0.05945783853530884,
                    "z": 0.04052228853106499
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.015494346618652,
                "transform": {
                    "location": {
                        "x": -60.7890625,
                        "y": 4294.62646484375,
                        "z": 372.6419982910156
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": 0.23954154551029205,
                        "yaw": 179.65646362304688
                    }
                },
                "velocity": {
                    "x": -8.015294075012207,
                    "y": 0.04600447416305542,
                    "z": 0.033073652535676956
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.007819175720215,
                "transform": {
                    "location": {
                        "x": -7.588202953338623,
                        "y": 4294.31201171875,
                        "z": 372.4156188964844
                    },
                    "rotation": {
                        "roll": 0.0005655097193084657,
                        "pitch": 0.23985573649406433,
                        "yaw": 179.69593811035156
                    }
                },
                "velocity": {
                    "x": -8.007617950439453,
                    "y": 0.0431814007461071,
                    "z": 0.03694268316030502
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17412659525871277,
        "expert_target_speed": 8.963547721970018,
        "target_point": [
            13.148186693145737,
            0.38906811158820764
        ],
        "target_point_next": [
            64.14203298038396,
            1.181862563834296
        ]
    },
    "145": {
        "acceleration": [
            -1.694793701171875,
            0.09171783924102783,
            0.005977600812911987
        ],
        "angular_velocity": [
            0.010445940308272839,
            0.12188170105218887,
            -0.519926905632019
        ],
        "forward_vector": [
            -0.999731183052063,
            0.022044839337468147,
            0.007180389948189259
        ],
        "right_vector": [
            -0.022045301273465157,
            -0.9997569918632507,
            1.4913318409526255e-05
        ],
        "location": [
            -48.49945068359375,
            4291.62255859375,
            372.59033203125
        ],
        "rotation": [
            -0.0008544922457076609,
            0.4114095866680145,
            178.73678588867188
        ],
        "velocity": [
            -8.909292221069336,
            0.20155726373195648,
            0.036805104464292526
        ],
        "speed": 8.91157187094228,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.088900566101074,
                "transform": {
                    "location": {
                        "x": -76.24250030517578,
                        "y": 4301.4111328125,
                        "z": 372.7139892578125
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": -0.25301751494407654,
                        "yaw": -0.2530517578125
                    }
                },
                "velocity": {
                    "x": 8.088751792907715,
                    "y": -0.035734642297029495,
                    "z": -0.03357236459851265
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.962439060211182,
                "transform": {
                    "location": {
                        "x": -76.26554870605469,
                        "y": 4298.16162109375,
                        "z": 372.6993408203125
                    },
                    "rotation": {
                        "roll": 0.0004152520268689841,
                        "pitch": -0.2427653968334198,
                        "yaw": -0.2663573920726776
                    }
                },
                "velocity": {
                    "x": 7.962283611297607,
                    "y": -0.036908380687236786,
                    "z": -0.03331975266337395
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.06065845489502,
                "transform": {
                    "location": {
                        "x": -32.91484451293945,
                        "y": 4301.162109375,
                        "z": 372.5296936035156
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": -0.2393161505460739,
                        "yaw": -0.3390808403491974
                    }
                },
                "velocity": {
                    "x": 8.060443878173828,
                    "y": -0.04777374491095543,
                    "z": -0.03435203805565834
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05332088470459,
                "transform": {
                    "location": {
                        "x": -32.95523452758789,
                        "y": 4297.91259765625,
                        "z": 372.52972412109375
                    },
                    "rotation": {
                        "roll": -0.0001220702106365934,
                        "pitch": -0.23995819687843323,
                        "yaw": -0.3550109267234802
                    }
                },
                "velocity": {
                    "x": 8.053106307983398,
                    "y": -0.0483412891626358,
                    "z": -0.033426813781261444
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.013359069824219,
                "transform": {
                    "location": {
                        "x": -117.10617065429688,
                        "y": 4298.30908203125,
                        "z": 372.8766784667969
                    },
                    "rotation": {
                        "roll": -0.0024414060171693563,
                        "pitch": -0.27975770831108093,
                        "yaw": -0.3239135444164276
                    }
                },
                "velocity": {
                    "x": 7.0129313468933105,
                    "y": -0.026313332840800285,
                    "z": -0.07284820079803467
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -117.04741668701172,
                        "y": 4301.55859375,
                        "z": 372.8772888183594
                    },
                    "rotation": {
                        "roll": -5.2110614434663916e-11,
                        "pitch": -0.22637978196144104,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.631546020507812,
                "transform": {
                    "location": {
                        "x": -26.97734260559082,
                        "y": 4294.4248046875,
                        "z": 372.4943542480469
                    },
                    "rotation": {
                        "roll": 0.00048194770351983607,
                        "pitch": 0.28940877318382263,
                        "yaw": 179.65232849121094
                    }
                },
                "velocity": {
                    "x": -9.631281852722168,
                    "y": 0.058389414101839066,
                    "z": 0.04090091586112976
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.233642578125,
                "transform": {
                    "location": {
                        "x": -44.987030029296875,
                        "y": 4294.5322265625,
                        "z": 372.57745361328125
                    },
                    "rotation": {
                        "roll": 0.0016146445414051414,
                        "pitch": -0.01581188663840294,
                        "yaw": 179.6526336669922
                    }
                },
                "velocity": {
                    "x": -8.233419418334961,
                    "y": 0.04978935793042183,
                    "z": 0.034653883427381516
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024873733520508,
                "transform": {
                    "location": {
                        "x": -62.79343795776367,
                        "y": 4294.63818359375,
                        "z": 372.6502685546875
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": 0.24253317713737488,
                        "yaw": 179.685302734375
                    }
                },
                "velocity": {
                    "x": -8.024680137634277,
                    "y": 0.04475269094109535,
                    "z": 0.03313343971967697
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.18240737915039,
                "transform": {
                    "location": {
                        "x": -9.602265357971191,
                        "y": 4294.32373046875,
                        "z": 372.4244384765625
                    },
                    "rotation": {
                        "roll": 0.0008243760676123202,
                        "pitch": 0.25356394052505493,
                        "yaw": 179.6753692626953
                    }
                },
                "velocity": {
                    "x": -8.182193756103516,
                    "y": 0.04674792289733887,
                    "z": 0.03636603429913521
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.19763736426830292,
        "expert_target_speed": 9.275291146717334,
        "target_point": [
            10.97165659807257,
            0.3962660345095284
        ],
        "target_point_next": [
            61.9650228547109,
            1.2193577829382107
        ]
    },
    "150": {
        "acceleration": [
            -1.4320945739746094,
            0.09723067283630371,
            0.0002104043960571289
        ],
        "angular_velocity": [
            0.0992387980222702,
            -0.03624773398041725,
            -0.21917149424552917
        ],
        "forward_vector": [
            -0.9996936321258545,
            0.023652730509638786,
            0.0072911325842142105
        ],
        "right_vector": [
            -0.023654671385884285,
            -0.9997201561927795,
            -0.0001797753939172253
        ],
        "location": [
            -50.77742004394531,
            4291.67626953125,
            372.5998840332031
        ],
        "rotation": [
            0.010300644673407078,
            0.4177548289299011,
            178.64463806152344
        ],
        "velocity": [
            -9.286947250366211,
            0.22530202567577362,
            0.03786763176321983
        ],
        "speed": 9.289679770253555,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065629959106445,
                "transform": {
                    "location": {
                        "x": -74.21867370605469,
                        "y": 4301.4013671875,
                        "z": 372.70550537109375
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": -0.23342853784561157,
                        "yaw": -0.2746887505054474
                    }
                },
                "velocity": {
                    "x": 8.065450668334961,
                    "y": -0.04205537587404251,
                    "z": -0.0335867740213871
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.088029861450195,
                "transform": {
                    "location": {
                        "x": -74.2621841430664,
                        "y": 4298.15185546875,
                        "z": 372.6910400390625
                    },
                    "rotation": {
                        "roll": 0.00031412558746524155,
                        "pitch": -0.2337290644645691,
                        "yaw": -0.2817382514476776
                    }
                },
                "velocity": {
                    "x": 8.087855339050293,
                    "y": -0.04158220812678337,
                    "z": -0.03292771428823471
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046714782714844,
                "transform": {
                    "location": {
                        "x": -30.9014835357666,
                        "y": 4301.150390625,
                        "z": 372.5212707519531
                    },
                    "rotation": {
                        "roll": -0.001495361328125,
                        "pitch": -0.24023139476776123,
                        "yaw": -0.3478393256664276
                    }
                },
                "velocity": {
                    "x": 8.046499252319336,
                    "y": -0.04895126074552536,
                    "z": -0.032928161323070526
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052188873291016,
                "transform": {
                    "location": {
                        "x": -30.94156265258789,
                        "y": 4297.90087890625,
                        "z": 372.5213317871094
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.2392546832561493,
                        "yaw": -0.329681396484375
                    }
                },
                "velocity": {
                    "x": 8.051971435546875,
                    "y": -0.04879741743206978,
                    "z": -0.033339787274599075
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.7279839515686035,
                "transform": {
                    "location": {
                        "x": -115.41522979736328,
                        "y": 4298.31494140625,
                        "z": 372.86077880859375
                    },
                    "rotation": {
                        "roll": -0.008270262740552425,
                        "pitch": -0.26901382207870483,
                        "yaw": 0.16937054693698883
                    }
                },
                "velocity": {
                    "x": 6.727748394012451,
                    "y": 0.032789938151836395,
                    "z": -0.04575517028570175
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.742559909820557,
                "transform": {
                    "location": {
                        "x": -115.34976196289062,
                        "y": 4301.5625,
                        "z": 372.8935852050781
                    },
                    "rotation": {
                        "roll": -0.0133056640625,
                        "pitch": -0.3234230875968933,
                        "yaw": 0.0998368039727211
                    }
                },
                "velocity": {
                    "x": 6.742377281188965,
                    "y": 0.02916037291288376,
                    "z": 0.04010193794965744
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.163663864135742,
                "transform": {
                    "location": {
                        "x": -29.210390090942383,
                        "y": 4294.4384765625,
                        "z": 372.5045471191406
                    },
                    "rotation": {
                        "roll": 0.0002071766066364944,
                        "pitch": 0.17989350855350494,
                        "yaw": 179.65122985839844
                    }
                },
                "velocity": {
                    "x": -8.163443565368652,
                    "y": 0.04965796321630478,
                    "z": 0.033695075660943985
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.22990083694458,
                "transform": {
                    "location": {
                        "x": -46.88148498535156,
                        "y": 4294.5439453125,
                        "z": 372.5860900878906
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": -0.20233067870140076,
                        "yaw": 179.6552734375
                    }
                },
                "velocity": {
                    "x": -7.229709148406982,
                    "y": 0.04343809932470322,
                    "z": 0.02965988963842392
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032243728637695,
                "transform": {
                    "location": {
                        "x": -64.8011703491211,
                        "y": 4294.64990234375,
                        "z": 372.6585388183594
                    },
                    "rotation": {
                        "roll": 0.0005040704272687435,
                        "pitch": 0.24496471881866455,
                        "yaw": 179.65444946289062
                    }
                },
                "velocity": {
                    "x": -8.032038688659668,
                    "y": 0.04631279036402702,
                    "z": 0.033859699964523315
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.671944618225098,
                "transform": {
                    "location": {
                        "x": -11.715703010559082,
                        "y": 4294.33544921875,
                        "z": 372.43359375
                    },
                    "rotation": {
                        "roll": 0.0006814231746830046,
                        "pitch": 0.26362478733062744,
                        "yaw": 179.6654510498047
                    }
                },
                "velocity": {
                    "x": -8.671724319458008,
                    "y": 0.049929048866033554,
                    "z": 0.0364992618560791
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22733815014362335,
        "expert_target_speed": 9.532498802721285,
        "target_point": [
            8.692402589615034,
            0.4137266701810266
        ],
        "target_point_next": [
            59.684379052994714,
            1.3188336075780196
        ]
    },
    "155": {
        "acceleration": [
            -1.3326263427734375,
            0.09925544261932373,
            0.010589063167572021
        ],
        "angular_velocity": [
            0.0009527738438919187,
            -0.04172467440366745,
            -0.5627079010009766
        ],
        "forward_vector": [
            -0.9996519684791565,
            0.025407427921891212,
            0.0071017141453921795
        ],
        "right_vector": [
            -0.025409962981939316,
            -0.9996770620346069,
            -0.0002670944086275995
        ],
        "location": [
            -53.14382553100586,
            4291.7353515625,
            372.60968017578125
        ],
        "rotation": [
            0.01530376821756363,
            0.40690165758132935,
            178.5440673828125
        ],
        "velocity": [
            -9.628291130065918,
            0.2500048875808716,
            0.039646729826927185
        ],
        "speed": 9.631536353517042,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.977481842041016,
                "transform": {
                    "location": {
                        "x": -72.21788787841797,
                        "y": 4301.3916015625,
                        "z": 372.697265625
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": -0.23047105967998505,
                        "yaw": -0.2960815131664276
                    }
                },
                "velocity": {
                    "x": 7.977293014526367,
                    "y": -0.04346495866775513,
                    "z": -0.03347409516572952
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.037630081176758,
                "transform": {
                    "location": {
                        "x": -72.2426528930664,
                        "y": 4298.1416015625,
                        "z": 372.68267822265625
                    },
                    "rotation": {
                        "roll": 9.480401058681309e-05,
                        "pitch": -0.23541611433029175,
                        "yaw": -0.3004150688648224
                    }
                },
                "velocity": {
                    "x": 8.037450790405273,
                    "y": -0.04202971234917641,
                    "z": -0.03338487446308136
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058377265930176,
                "transform": {
                    "location": {
                        "x": -28.88851547241211,
                        "y": 4301.138671875,
                        "z": 372.51287841796875
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": -0.23916588723659515,
                        "yaw": -0.34838858246803284
                    }
                },
                "velocity": {
                    "x": 8.058160781860352,
                    "y": -0.04899025335907936,
                    "z": -0.032990097999572754
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051543235778809,
                "transform": {
                    "location": {
                        "x": -28.928592681884766,
                        "y": 4297.88916015625,
                        "z": 372.5129699707031
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": -0.2396576702594757,
                        "yaw": -0.3582763373851776
                    }
                },
                "velocity": {
                    "x": 8.0513277053833,
                    "y": -0.04882834479212761,
                    "z": -0.03295527398586273
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.79081392288208,
                "transform": {
                    "location": {
                        "x": -113.72468566894531,
                        "y": 4298.3203125,
                        "z": 372.8515930175781
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.2363860011100769,
                        "yaw": 0.20102474093437195
                    }
                },
                "velocity": {
                    "x": 6.790719032287598,
                    "y": 0.02008473314344883,
                    "z": -0.029734406620264053
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.527528762817383,
                "transform": {
                    "location": {
                        "x": -113.69132232666016,
                        "y": 4301.5673828125,
                        "z": 372.8945617675781
                    },
                    "rotation": {
                        "roll": -0.0032348628155887127,
                        "pitch": -0.2508181929588318,
                        "yaw": 0.17553359270095825
                    }
                },
                "velocity": {
                    "x": 6.527482986450195,
                    "y": 0.02085370011627674,
                    "z": -0.012606954202055931
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.753516674041748,
                "transform": {
                    "location": {
                        "x": -31.155702590942383,
                        "y": 4294.4501953125,
                        "z": 372.512451171875
                    },
                    "rotation": {
                        "roll": -0.0016784670297056437,
                        "pitch": 0.19937321543693542,
                        "yaw": 179.6513214111328
                    }
                },
                "velocity": {
                    "x": -7.753302574157715,
                    "y": 0.04719434678554535,
                    "z": 0.03304749354720116
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.682590484619141,
                "transform": {
                    "location": {
                        "x": -48.724609375,
                        "y": 4294.55517578125,
                        "z": 372.59234619140625
                    },
                    "rotation": {
                        "roll": 0.0009020672296173871,
                        "pitch": 0.17333653569221497,
                        "yaw": 179.65887451171875
                    }
                },
                "velocity": {
                    "x": -7.682392597198486,
                    "y": 0.04578347131609917,
                    "z": 0.030705919489264488
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019440650939941,
                "transform": {
                    "location": {
                        "x": -66.8071060180664,
                        "y": 4294.66162109375,
                        "z": 372.6668395996094
                    },
                    "rotation": {
                        "roll": 0.001146891270764172,
                        "pitch": 0.2402723878622055,
                        "yaw": 179.6781768798828
                    }
                },
                "velocity": {
                    "x": -8.019232749938965,
                    "y": 0.04693030193448067,
                    "z": 0.033720891922712326
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.947632789611816,
                "transform": {
                    "location": {
                        "x": -13.809609413146973,
                        "y": 4294.34716796875,
                        "z": 372.4428405761719
                    },
                    "rotation": {
                        "roll": -0.0005187985952943563,
                        "pitch": 0.23370173573493958,
                        "yaw": 179.6629180908203
                    }
                },
                "velocity": {
                    "x": -7.947418212890625,
                    "y": 0.046403635293245316,
                    "z": 0.03541558235883713
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.25154829025268555,
        "expert_target_speed": 9.756263201298678,
        "target_point": [
            57.314829564238146,
            1.4225293373600751
        ],
        "target_point_next": [
            108.30511210693982,
            2.417137189415677
        ]
    },
    "160": {
        "acceleration": [
            -1.2801742553710938,
            0.1056361198425293,
            -0.011655241250991821
        ],
        "angular_velocity": [
            -0.009344211779534817,
            -0.03185763955116272,
            -0.2635580599308014
        ],
        "forward_vector": [
            -0.9996069669723511,
            0.02716323919594288,
            0.006929580122232437
        ],
        "right_vector": [
            -0.027166085317730904,
            -0.999630868434906,
            -0.0003170338459312916
        ],
        "location": [
            -55.59335708618164,
            4291.80029296875,
            372.6199035644531
        ],
        "rotation": [
            0.018165137618780136,
            0.39703887701034546,
            178.4434356689453
        ],
        "velocity": [
            -9.95361328125,
            0.27601704001426697,
            0.04095868021249771
        ],
        "speed": 9.957439568435985,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.082571029663086,
                "transform": {
                    "location": {
                        "x": -70.2085952758789,
                        "y": 4301.38037109375,
                        "z": 372.6890869140625
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": -0.23995819687843323,
                        "yaw": -0.3077392280101776
                    }
                },
                "velocity": {
                    "x": 8.082377433776855,
                    "y": -0.04524284228682518,
                    "z": -0.032978229224681854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.056194305419922,
                "transform": {
                    "location": {
                        "x": -70.23304748535156,
                        "y": 4298.13134765625,
                        "z": 372.6744384765625
                    },
                    "rotation": {
                        "roll": -3.051756357308477e-05,
                        "pitch": -0.23810037970542908,
                        "yaw": -0.3083190321922302
                    }
                },
                "velocity": {
                    "x": 8.055999755859375,
                    "y": -0.045584432780742645,
                    "z": -0.0326213464140892
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047873497009277,
                "transform": {
                    "location": {
                        "x": -26.875078201293945,
                        "y": 4301.126953125,
                        "z": 372.50445556640625
                    },
                    "rotation": {
                        "roll": 9.859885176410899e-05,
                        "pitch": -0.24135838449001312,
                        "yaw": -0.3486022353172302
                    }
                },
                "velocity": {
                    "x": 8.04765510559082,
                    "y": -0.04886442422866821,
                    "z": -0.03349408134818077
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052250862121582,
                "transform": {
                    "location": {
                        "x": -26.914920806884766,
                        "y": 4297.87744140625,
                        "z": 372.5045471191406
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": -0.24060022830963135,
                        "yaw": -0.32904052734375
                    }
                },
                "velocity": {
                    "x": 8.05203628540039,
                    "y": -0.04850509390234947,
                    "z": -0.03316514566540718
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.682495594024658,
                "transform": {
                    "location": {
                        "x": -112.1727294921875,
                        "y": 4298.3251953125,
                        "z": 372.8454895019531
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.28753045201301575,
                        "yaw": 0.16608008742332458
                    }
                },
                "velocity": {
                    "x": 5.682419300079346,
                    "y": 0.016965366899967194,
                    "z": -0.02409156784415245
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.583691120147705,
                "transform": {
                    "location": {
                        "x": -112.11031341552734,
                        "y": 4301.572265625,
                        "z": 372.8904724121094
                    },
                    "rotation": {
                        "roll": -0.0035095219500362873,
                        "pitch": -0.32214584946632385,
                        "yaw": 0.20363849401474
                    }
                },
                "velocity": {
                    "x": 5.583618640899658,
                    "y": 0.018796317279338837,
                    "z": -0.0213911235332489
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.550525665283203,
                "transform": {
                    "location": {
                        "x": -33.18992233276367,
                        "y": 4294.46240234375,
                        "z": 372.52044677734375
                    },
                    "rotation": {
                        "roll": -0.0007629395113326609,
                        "pitch": 0.2742730677127838,
                        "yaw": 179.651123046875
                    }
                },
                "velocity": {
                    "x": -8.550294876098633,
                    "y": 0.052031081169843674,
                    "z": 0.03520067036151886
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.289788246154785,
                "transform": {
                    "location": {
                        "x": -50.75710678100586,
                        "y": 4294.56689453125,
                        "z": 372.59991455078125
                    },
                    "rotation": {
                        "roll": -0.0007934568566270173,
                        "pitch": 0.40260547399520874,
                        "yaw": 179.66343688964844
                    }
                },
                "velocity": {
                    "x": -8.289575576782227,
                    "y": 0.04870791733264923,
                    "z": 0.03393777832388878
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028046607971191,
                "transform": {
                    "location": {
                        "x": -68.81327819824219,
                        "y": 4294.67333984375,
                        "z": 372.6750793457031
                    },
                    "rotation": {
                        "roll": 0.001170944538898766,
                        "pitch": 0.2434825748205185,
                        "yaw": 179.65121459960938
                    }
                },
                "velocity": {
                    "x": -8.02784252166748,
                    "y": 0.04689072072505951,
                    "z": 0.03284972161054611
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.3185038566589355,
                "transform": {
                    "location": {
                        "x": -15.5161714553833,
                        "y": 4294.357421875,
                        "z": 372.45050048828125
                    },
                    "rotation": {
                        "roll": 0.00012543710181489587,
                        "pitch": 0.19860823452472687,
                        "yaw": 179.6614990234375
                    }
                },
                "velocity": {
                    "x": -6.318329811096191,
                    "y": 0.03744581714272499,
                    "z": 0.02821214683353901
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.35268285870552063,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.28824612498283386,
        "expert_target_speed": 9.961799910641425,
        "target_point": [
            54.86185122267534,
            1.5215625117473572
        ],
        "target_point_next": [
            105.85030841237298,
            2.6057174722068797
        ]
    },
    "165": {
        "acceleration": [
            -1.2441635131835938,
            0.11024951934814453,
            -0.005069747567176819
        ],
        "angular_velocity": [
            0.009961689822375774,
            -0.03915577009320259,
            -0.5706292986869812
        ],
        "forward_vector": [
            -0.9995554089546204,
            0.02902524545788765,
            0.006814069114625454
        ],
        "right_vector": [
            -0.02902841381728649,
            -0.9995785355567932,
            -0.0003664459800347686
        ],
        "location": [
            -58.12289047241211,
            4291.873046875,
            372.63043212890625
        ],
        "rotation": [
            0.020996296778321266,
            0.39042040705680847,
            178.33670043945312
        ],
        "velocity": [
            -10.267979621887207,
            0.3032474219799042,
            0.041243333369493484
        ],
        "speed": 10.272456595889242,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.002287864685059,
                "transform": {
                    "location": {
                        "x": -68.19789123535156,
                        "y": 4301.369140625,
                        "z": 372.68072509765625
                    },
                    "rotation": {
                        "roll": 3.79066368623171e-05,
                        "pitch": -0.23486287891864777,
                        "yaw": -0.3166808784008026
                    }
                },
                "velocity": {
                    "x": 8.002097129821777,
                    "y": -0.0444873571395874,
                    "z": -0.032722413539886475
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.037178993225098,
                "transform": {
                    "location": {
                        "x": -68.2211685180664,
                        "y": 4298.119140625,
                        "z": 372.6661682128906
                    },
                    "rotation": {
                        "roll": -0.0011291502742096782,
                        "pitch": -0.23497898876667023,
                        "yaw": -0.319671630859375
                    }
                },
                "velocity": {
                    "x": 8.036982536315918,
                    "y": -0.044861264526844025,
                    "z": -0.03379736468195915
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057991027832031,
                "transform": {
                    "location": {
                        "x": -24.86148452758789,
                        "y": 4301.115234375,
                        "z": 372.49603271484375
                    },
                    "rotation": {
                        "roll": -0.00015258791972883046,
                        "pitch": -0.2421848326921463,
                        "yaw": -0.3484191596508026
                    }
                },
                "velocity": {
                    "x": 8.057768821716309,
                    "y": -0.04902024567127228,
                    "z": -0.03432276472449303
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052119255065918,
                "transform": {
                    "location": {
                        "x": -24.901248931884766,
                        "y": 4297.86572265625,
                        "z": 372.49609375
                    },
                    "rotation": {
                        "roll": 5.102661089040339e-05,
                        "pitch": -0.24224629998207092,
                        "yaw": -0.35833740234375
                    }
                },
                "velocity": {
                    "x": 8.051899909973145,
                    "y": -0.04891515523195267,
                    "z": -0.03379549831151962
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.786810398101807,
                "transform": {
                    "location": {
                        "x": -110.76789093017578,
                        "y": 4298.3291015625,
                        "z": 372.83935546875
                    },
                    "rotation": {
                        "roll": -0.0023498532827943563,
                        "pitch": -0.2364201545715332,
                        "yaw": 0.14614300429821014
                    }
                },
                "velocity": {
                    "x": 5.786749839782715,
                    "y": 0.014559200964868069,
                    "z": -0.02212083712220192
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.300490379333496,
                "transform": {
                    "location": {
                        "x": -110.77710723876953,
                        "y": 4301.576171875,
                        "z": 372.88494873046875
                    },
                    "rotation": {
                        "roll": -0.0022277829702943563,
                        "pitch": -0.282865434885025,
                        "yaw": 0.21469925343990326
                    }
                },
                "velocity": {
                    "x": 5.300421714782715,
                    "y": 0.016148841008543968,
                    "z": -0.021610526368021965
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.66341781616211,
                "transform": {
                    "location": {
                        "x": -35.33742141723633,
                        "y": 4294.47509765625,
                        "z": 372.5295104980469
                    },
                    "rotation": {
                        "roll": 8.965962479123846e-06,
                        "pitch": 0.25484800338745117,
                        "yaw": 179.66004943847656
                    }
                },
                "velocity": {
                    "x": -8.663186073303223,
                    "y": 0.05142061039805412,
                    "z": 0.03682621940970421
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.977293014526367,
                "transform": {
                    "location": {
                        "x": -53.01109313964844,
                        "y": 4294.58056640625,
                        "z": 372.60888671875
                    },
                    "rotation": {
                        "roll": -0.0004882813664153218,
                        "pitch": 0.5009328722953796,
                        "yaw": 179.66421508789062
                    }
                },
                "velocity": {
                    "x": -8.977066040039062,
                    "y": 0.052654776722192764,
                    "z": 0.03612435236573219
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025788307189941,
                "transform": {
                    "location": {
                        "x": -70.8207015991211,
                        "y": 4294.68505859375,
                        "z": 372.683349609375
                    },
                    "rotation": {
                        "roll": 0.0010972252348437905,
                        "pitch": 0.24301812052726746,
                        "yaw": 179.67962646484375
                    }
                },
                "velocity": {
                    "x": -8.025583267211914,
                    "y": 0.04693998768925667,
                    "z": 0.03301092982292175
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.438774585723877,
                "transform": {
                    "location": {
                        "x": -17.087265014648438,
                        "y": 4294.36669921875,
                        "z": 372.4569396972656
                    },
                    "rotation": {
                        "roll": -0.0005493162898346782,
                        "pitch": 0.2401357740163803,
                        "yaw": 179.66122436523438
                    }
                },
                "velocity": {
                    "x": -6.438608646392822,
                    "y": 0.03808711841702461,
                    "z": 0.02626686915755272
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.33322039246559143,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3182297646999359,
        "expert_target_speed": 10.0,
        "target_point": [
            52.32834200263063,
            1.6230692242017086
        ],
        "target_point_next": [
            103.314690924978,
            2.802213885625724
        ]
    },
    "170": {
        "acceleration": [
            -1.2001800537109375,
            0.0545656681060791,
            0.007035508751869202
        ],
        "angular_velocity": [
            -0.08690895140171051,
            0.0006705091218464077,
            -0.03887580707669258
        ],
        "forward_vector": [
            -0.9995195269584656,
            0.030255887657403946,
            0.006726452149450779
        ],
        "right_vector": [
            -0.030258093029260635,
            -0.9995421171188354,
            -0.0002260943438159302
        ],
        "location": [
            -60.729530334472656,
            4291.95068359375,
            372.64117431640625
        ],
        "rotation": [
            0.012954545207321644,
            0.3854002356529236,
            178.2661590576172
        ],
        "velocity": [
            -10.572016716003418,
            0.32184383273124695,
            0.04294701665639877
        ],
        "speed": 10.576914526274798,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.061200141906738,
                "transform": {
                    "location": {
                        "x": -66.19062042236328,
                        "y": 4301.357421875,
                        "z": 372.6724853515625
                    },
                    "rotation": {
                        "roll": -3.051760722883046e-05,
                        "pitch": -0.23566199839115143,
                        "yaw": -0.3215332329273224
                    }
                },
                "velocity": {
                    "x": 8.061005592346191,
                    "y": -0.04521265998482704,
                    "z": -0.032979078590869904
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.070955276489258,
                "transform": {
                    "location": {
                        "x": -66.20695495605469,
                        "y": 4298.10791015625,
                        "z": 372.6578674316406
                    },
                    "rotation": {
                        "roll": -0.00024414053768850863,
                        "pitch": -0.23678214848041534,
                        "yaw": -0.3233642280101776
                    }
                },
                "velocity": {
                    "x": 8.070758819580078,
                    "y": -0.04560879245400429,
                    "z": -0.03307603672146797
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04836654663086,
                "transform": {
                    "location": {
                        "x": -22.848201751708984,
                        "y": 4301.103515625,
                        "z": 372.4875183105469
                    },
                    "rotation": {
                        "roll": -0.00012207034160383046,
                        "pitch": -0.24196626245975494,
                        "yaw": -0.3480224907398224
                    }
                },
                "velocity": {
                    "x": 8.048148155212402,
                    "y": -0.04884381964802742,
                    "z": -0.033445242792367935
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05301284790039,
                "transform": {
                    "location": {
                        "x": -22.887577056884766,
                        "y": 4297.85400390625,
                        "z": 372.48760986328125
                    },
                    "rotation": {
                        "roll": 0.0005395545740611851,
                        "pitch": -0.24182283878326416,
                        "yaw": -0.32489013671875
                    }
                },
                "velocity": {
                    "x": 8.0527982711792,
                    "y": -0.04838581383228302,
                    "z": -0.033404409885406494
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.362443447113037,
                "transform": {
                    "location": {
                        "x": -109.20015716552734,
                        "y": 4298.3291015625,
                        "z": 372.83251953125
                    },
                    "rotation": {
                        "roll": 0.0015813828213140368,
                        "pitch": -0.14508004486560822,
                        "yaw": -0.024749755859375
                    }
                },
                "velocity": {
                    "x": 7.362373352050781,
                    "y": -0.012206162326037884,
                    "z": -0.029669007286429405
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.653454303741455,
                "transform": {
                    "location": {
                        "x": -109.39413452148438,
                        "y": 4301.57763671875,
                        "z": 372.87890625
                    },
                    "rotation": {
                        "roll": 0.003382161259651184,
                        "pitch": -0.21642819046974182,
                        "yaw": 0.1176554337143898
                    }
                },
                "velocity": {
                    "x": 5.653411865234375,
                    "y": -0.006027769297361374,
                    "z": -0.02107231505215168
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.562732696533203,
                "transform": {
                    "location": {
                        "x": -37.52554702758789,
                        "y": 4294.48876953125,
                        "z": 372.5387268066406
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": 0.2412286102771759,
                        "yaw": 179.6607208251953
                    }
                },
                "velocity": {
                    "x": -8.562501907348633,
                    "y": 0.05079228803515434,
                    "z": 0.037022437900304794
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.1226806640625,
                "transform": {
                    "location": {
                        "x": -55.127811431884766,
                        "y": 4294.5927734375,
                        "z": 372.6192626953125
                    },
                    "rotation": {
                        "roll": -0.0007629392785020173,
                        "pitch": 0.08401132375001907,
                        "yaw": 179.66343688964844
                    }
                },
                "velocity": {
                    "x": -8.122471809387207,
                    "y": 0.04767913743853569,
                    "z": 0.03333686664700508
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025219917297363,
                "transform": {
                    "location": {
                        "x": -72.82648468017578,
                        "y": 4294.69677734375,
                        "z": 372.6916198730469
                    },
                    "rotation": {
                        "roll": -0.0007934568566270173,
                        "pitch": 0.24186381697654724,
                        "yaw": 179.65231323242188
                    }
                },
                "velocity": {
                    "x": -8.025014877319336,
                    "y": 0.046695776283741,
                    "z": 0.033316440880298615
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.428904056549072,
                "transform": {
                    "location": {
                        "x": -18.81851577758789,
                        "y": 4294.376953125,
                        "z": 372.46392822265625
                    },
                    "rotation": {
                        "roll": 0.00032757053850218654,
                        "pitch": 0.2729138433933258,
                        "yaw": 179.65939331054688
                    }
                },
                "velocity": {
                    "x": -7.428709030151367,
                    "y": 0.04398011043667793,
                    "z": 0.031038694083690643
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.344356894493103,
        "expert_target_speed": 10.0,
        "target_point": [
            49.718508557573976,
            1.6862279056954406
        ],
        "target_point_next": [
            100.70336708148938,
            2.9281457211123354
        ]
    },
    "175": {
        "acceleration": [
            0.11812210083007812,
            -0.1282799243927002,
            0.006221607327461243
        ],
        "angular_velocity": [
            -0.22829394042491913,
            -0.40322792530059814,
            0.24508678913116455
        ],
        "forward_vector": [
            -0.9995253682136536,
            0.030193572863936424,
            0.006111821625381708
        ],
        "right_vector": [
            -0.030193552374839783,
            -0.9995440244674683,
            9.533937554806471e-05
        ],
        "location": [
            -63.40312194824219,
            4292.0322265625,
            372.65228271484375
        ],
        "rotation": [
            -0.005462645553052425,
            0.35018378496170044,
            178.26974487304688
        ],
        "velocity": [
            -10.73299789428711,
            0.3177793323993683,
            0.04524276778101921
        ],
        "speed": 10.73770122059986,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00809097290039,
                "transform": {
                    "location": {
                        "x": -64.18171691894531,
                        "y": 4301.345703125,
                        "z": 372.6642150878906
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.2358054369688034,
                        "yaw": -0.3249511122703552
                    }
                },
                "velocity": {
                    "x": 8.007892608642578,
                    "y": -0.04559002444148064,
                    "z": -0.033170681446790695
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.019847869873047,
                "transform": {
                    "location": {
                        "x": -64.19656372070312,
                        "y": 4298.09619140625,
                        "z": 372.6495666503906
                    },
                    "rotation": {
                        "roll": -9.155267616733909e-05,
                        "pitch": -0.23650895059108734,
                        "yaw": -0.3246154487133026
                    }
                },
                "velocity": {
                    "x": 8.019655227661133,
                    "y": -0.045407894998788834,
                    "z": -0.031953297555446625
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059261322021484,
                "transform": {
                    "location": {
                        "x": -20.834453582763672,
                        "y": 4301.091796875,
                        "z": 372.47906494140625
                    },
                    "rotation": {
                        "roll": -0.0006713866605423391,
                        "pitch": -0.24325034022331238,
                        "yaw": -0.354766845703125
                    }
                },
                "velocity": {
                    "x": 8.059039115905762,
                    "y": -0.05005115270614624,
                    "z": -0.03288941830396652
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051788330078125,
                "transform": {
                    "location": {
                        "x": -20.873905181884766,
                        "y": 4297.84228515625,
                        "z": 372.4790954589844
                    },
                    "rotation": {
                        "roll": 0.001400162698701024,
                        "pitch": -0.24374212324619293,
                        "yaw": -0.3605346083641052
                    }
                },
                "velocity": {
                    "x": 8.051565170288086,
                    "y": -0.04986681789159775,
                    "z": -0.033307380974292755
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.459115028381348,
                "transform": {
                    "location": {
                        "x": -107.16413879394531,
                        "y": 4298.32568359375,
                        "z": 372.8243408203125
                    },
                    "rotation": {
                        "roll": 0.00028900831239297986,
                        "pitch": -0.14715641736984253,
                        "yaw": -0.0933532565832138
                    }
                },
                "velocity": {
                    "x": 8.459033966064453,
                    "y": -0.016223805025219917,
                    "z": -0.03354322537779808
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.180222511291504,
                "transform": {
                    "location": {
                        "x": -107.58765411376953,
                        "y": 4301.57568359375,
                        "z": 372.8701477050781
                    },
                    "rotation": {
                        "roll": 0.002881408669054508,
                        "pitch": -0.037688981741666794,
                        "yaw": 0.007944661192595959
                    }
                },
                "velocity": {
                    "x": 8.18014907836914,
                    "y": -0.013260002247989178,
                    "z": -0.0320921428501606
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.235365390777588,
                "transform": {
                    "location": {
                        "x": -39.501014709472656,
                        "y": 4294.50048828125,
                        "z": 372.5475769042969
                    },
                    "rotation": {
                        "roll": -0.0007934568566270173,
                        "pitch": 0.1694023460149765,
                        "yaw": 179.66290283203125
                    }
                },
                "velocity": {
                    "x": -7.235182762145996,
                    "y": 0.041212696582078934,
                    "z": 0.030683517456054688
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.957187652587891,
                "transform": {
                    "location": {
                        "x": -56.96835708618164,
                        "y": 4294.603515625,
                        "z": 372.6275634765625
                    },
                    "rotation": {
                        "roll": -0.0013427732046693563,
                        "pitch": -0.13970467448234558,
                        "yaw": 179.66285705566406
                    }
                },
                "velocity": {
                    "x": -6.957005977630615,
                    "y": 0.04094605892896652,
                    "z": 0.029131250455975533
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026378631591797,
                "transform": {
                    "location": {
                        "x": -74.8324203491211,
                        "y": 4294.70849609375,
                        "z": 372.6998596191406
                    },
                    "rotation": {
                        "roll": 0.0015380847034975886,
                        "pitch": 0.24332547187805176,
                        "yaw": 179.67544555664062
                    }
                },
                "velocity": {
                    "x": -8.02617073059082,
                    "y": 0.04735236242413521,
                    "z": 0.03316468000411987
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.543709754943848,
                "transform": {
                    "location": {
                        "x": -20.7667179107666,
                        "y": 4294.388671875,
                        "z": 372.4721374511719
                    },
                    "rotation": {
                        "roll": -0.001495361328125,
                        "pitch": 0.28019484877586365,
                        "yaw": 179.65724182128906
                    }
                },
                "velocity": {
                    "x": -8.543478012084961,
                    "y": 0.05095177888870239,
                    "z": 0.03692269325256348
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3924548029899597,
        "expert_target_speed": 10.0,
        "target_point": [
            47.04377987746046,
            1.6838792088338597
        ],
        "target_point_next": [
            98.02871646979911,
            2.922587907086193
        ]
    },
    "180": {
        "acceleration": [
            -2.1372413635253906,
            -0.14998197555541992,
            0.028367862105369568
        ],
        "angular_velocity": [
            -0.11354779452085495,
            0.052914999425411224,
            1.732853651046753
        ],
        "forward_vector": [
            -0.9995989799499512,
            0.02677021734416485,
            0.009234892204403877
        ],
        "right_vector": [
            -0.026764340698719025,
            -0.999641478061676,
            0.0007595010683871806
        ],
        "location": [
            -66.23812103271484,
            4292.111328125,
            372.6632995605469
        ],
        "rotation": [
            -0.0435180626809597,
            0.5291278958320618,
            178.46592712402344
        ],
        "velocity": [
            -11.70290756225586,
            0.3025435209274292,
            0.04789400100708008
        ],
        "speed": 11.706817586037657,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063553810119629,
                "transform": {
                    "location": {
                        "x": -62.172420501708984,
                        "y": 4301.333984375,
                        "z": 372.6559143066406
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.23705536127090454,
                        "yaw": -0.3252868056297302
                    }
                },
                "velocity": {
                    "x": 8.063356399536133,
                    "y": -0.0457451269030571,
                    "z": -0.033082883805036545
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.082754135131836,
                "transform": {
                    "location": {
                        "x": -62.182655334472656,
                        "y": 4298.08447265625,
                        "z": 372.6412353515625
                    },
                    "rotation": {
                        "roll": 0.00026169876218773425,
                        "pitch": -0.23644746840000153,
                        "yaw": -0.3324584662914276
                    }
                },
                "velocity": {
                    "x": 8.082549095153809,
                    "y": -0.046811193227767944,
                    "z": -0.03346354514360428
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047852516174316,
                "transform": {
                    "location": {
                        "x": -18.8214054107666,
                        "y": 4301.080078125,
                        "z": 372.4704895019531
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": -0.24679520726203918,
                        "yaw": -0.3537597060203552
                    }
                },
                "velocity": {
                    "x": 8.047635078430176,
                    "y": -0.04881367087364197,
                    "z": -0.03358089551329613
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051798820495605,
                "transform": {
                    "location": {
                        "x": -18.86031150817871,
                        "y": 4297.83056640625,
                        "z": 372.4705810546875
                    },
                    "rotation": {
                        "roll": 8.271528713521548e-06,
                        "pitch": -0.24582532048225403,
                        "yaw": -0.3360595703125
                    }
                },
                "velocity": {
                    "x": 8.051576614379883,
                    "y": -0.04964672401547432,
                    "z": -0.03330591693520546
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.894311904907227,
                "transform": {
                    "location": {
                        "x": -105.12069702148438,
                        "y": 4298.32177734375,
                        "z": 372.8168640136719
                    },
                    "rotation": {
                        "roll": 0.0007619530661031604,
                        "pitch": -0.23617427051067352,
                        "yaw": -0.11697383970022202
                    }
                },
                "velocity": {
                    "x": 7.894206523895264,
                    "y": -0.025177130475640297,
                    "z": -0.03210269287228584
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.217362403869629,
                "transform": {
                    "location": {
                        "x": -105.49679565429688,
                        "y": 4301.57275390625,
                        "z": 372.863037109375
                    },
                    "rotation": {
                        "roll": 0.0019533124286681414,
                        "pitch": -0.17477087676525116,
                        "yaw": -0.0724487155675888
                    }
                },
                "velocity": {
                    "x": 8.21728229522705,
                    "y": -0.01496417261660099,
                    "z": -0.03298574313521385
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.351698398590088,
                "transform": {
                    "location": {
                        "x": -41.16570281982422,
                        "y": 4294.51025390625,
                        "z": 372.554443359375
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": 0.1792924553155899,
                        "yaw": 179.66748046875
                    }
                },
                "velocity": {
                    "x": -6.351539611816406,
                    "y": 0.03685155138373375,
                    "z": 0.02559266984462738
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.436282634735107,
                "transform": {
                    "location": {
                        "x": -58.74749755859375,
                        "y": 4294.61376953125,
                        "z": 372.63385009765625
                    },
                    "rotation": {
                        "roll": 0.0018279865616932511,
                        "pitch": 0.19104038178920746,
                        "yaw": 179.65809631347656
                    }
                },
                "velocity": {
                    "x": -7.436085224151611,
                    "y": 0.04554212838411331,
                    "z": 0.02939288131892681
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025206565856934,
                "transform": {
                    "location": {
                        "x": -76.83866882324219,
                        "y": 4294.72021484375,
                        "z": 372.70819091796875
                    },
                    "rotation": {
                        "roll": 0.0024752893950790167,
                        "pitch": 0.24243755638599396,
                        "yaw": 179.64349365234375
                    }
                },
                "velocity": {
                    "x": -8.024985313415527,
                    "y": 0.04924381524324417,
                    "z": 0.03345608711242676
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.782577514648438,
                "transform": {
                    "location": {
                        "x": -22.989608764648438,
                        "y": 4294.40185546875,
                        "z": 372.48175048828125
                    },
                    "rotation": {
                        "roll": -0.0006408690242096782,
                        "pitch": 0.2590417265892029,
                        "yaw": 179.62222290039062
                    }
                },
                "velocity": {
                    "x": -8.782333374023438,
                    "y": 0.053900282829999924,
                    "z": 0.03726155310869217
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.37204238772392273,
        "expert_target_speed": 10.0,
        "target_point": [
            44.2131686044147,
            1.5259831946779963
        ],
        "target_point_next": [
            95.20204733031714,
            2.5901283159518864
        ]
    },
    "185": {
        "acceleration": [
            -0.8975028991699219,
            -0.21251261234283447,
            0.00746704638004303
        ],
        "angular_velocity": [
            -0.09072373807430267,
            -0.410007119178772,
            -0.003426193492487073
        ],
        "forward_vector": [
            -0.999723494052887,
            0.022144826129078865,
            0.007907903753221035
        ],
        "right_vector": [
            -0.022136077284812927,
            -0.9997543096542358,
            0.0011919931275770068
        ],
        "location": [
            -69.20929718017578,
            4292.181640625,
            372.67584228515625
        ],
        "rotation": [
            -0.0682983249425888,
            0.4530942440032959,
            178.73104858398438
        ],
        "velocity": [
            -12.017535209655762,
            0.25538966059684753,
            0.049410656094551086
        ],
        "speed": 12.020248599511397,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -145.22764587402344,
                        "y": 4301.7255859375,
                        "z": 373.1434631347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2175278514623642,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -144.4684295654297,
                        "y": 4298.470703125,
                        "z": 373.0387878417969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2175278514623642,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004780769348145,
                "transform": {
                    "location": {
                        "x": -60.1646842956543,
                        "y": 4301.322265625,
                        "z": 372.6475830078125
                    },
                    "rotation": {
                        "roll": 2.4924158424255438e-05,
                        "pitch": -0.23635868728160858,
                        "yaw": -0.3274840712547302
                    }
                },
                "velocity": {
                    "x": 8.004571914672852,
                    "y": -0.04740355536341667,
                    "z": -0.03292330354452133
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01684856414795,
                "transform": {
                    "location": {
                        "x": -60.17070007324219,
                        "y": 4298.07275390625,
                        "z": 372.6329345703125
                    },
                    "rotation": {
                        "roll": 0.0014820912620052695,
                        "pitch": -0.2381277084350586,
                        "yaw": -0.336517333984375
                    }
                },
                "velocity": {
                    "x": 8.016640663146973,
                    "y": -0.04698895663022995,
                    "z": -0.0337512381374836
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059691429138184,
                "transform": {
                    "location": {
                        "x": -16.807655334472656,
                        "y": 4301.06787109375,
                        "z": 372.4619140625
                    },
                    "rotation": {
                        "roll": -0.00021362295956350863,
                        "pitch": -0.24579116702079773,
                        "yaw": -0.34667959809303284
                    }
                },
                "velocity": {
                    "x": 8.059475898742676,
                    "y": -0.04884963110089302,
                    "z": -0.03287846967577934
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053515434265137,
                "transform": {
                    "location": {
                        "x": -16.84663963317871,
                        "y": 4297.81884765625,
                        "z": 372.46197509765625
                    },
                    "rotation": {
                        "roll": 0.0005403206450864673,
                        "pitch": -0.2456955462694168,
                        "yaw": -0.3666076064109802
                    }
                },
                "velocity": {
                    "x": 8.053293228149414,
                    "y": -0.04988836124539375,
                    "z": -0.03304653987288475
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.044828414916992,
                "transform": {
                    "location": {
                        "x": -103.14632415771484,
                        "y": 4298.314453125,
                        "z": 372.8088684082031
                    },
                    "rotation": {
                        "roll": 0.0013256689999252558,
                        "pitch": -0.22720623016357422,
                        "yaw": -0.205841064453125
                    }
                },
                "velocity": {
                    "x": 8.044692039489746,
                    "y": -0.0331241711974144,
                    "z": -0.033167608082294464
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.794000148773193,
                "transform": {
                    "location": {
                        "x": -103.51421356201172,
                        "y": 4301.56689453125,
                        "z": 372.85577392578125
                    },
                    "rotation": {
                        "roll": 0.00261868629604578,
                        "pitch": -0.25533977150917053,
                        "yaw": -0.2022704929113388
                    }
                },
                "velocity": {
                    "x": 7.793869495391846,
                    "y": -0.03220534324645996,
                    "z": -0.03167937695980072
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.006092548370361,
                "transform": {
                    "location": {
                        "x": -42.81390380859375,
                        "y": 4294.52001953125,
                        "z": 372.56072998046875
                    },
                    "rotation": {
                        "roll": 0.00037834441172890365,
                        "pitch": 0.2544245421886444,
                        "yaw": 179.6693115234375
                    }
                },
                "velocity": {
                    "x": -7.0059123039245605,
                    "y": 0.04064435511827469,
                    "z": 0.029596690088510513
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.15346908569336,
                "transform": {
                    "location": {
                        "x": -60.73530960083008,
                        "y": 4294.62548828125,
                        "z": 372.64093017578125
                    },
                    "rotation": {
                        "roll": -0.00018310549785383046,
                        "pitch": 0.463093638420105,
                        "yaw": 179.66018676757812
                    }
                },
                "velocity": {
                    "x": -8.1532564163208,
                    "y": 0.04839237406849861,
                    "z": 0.033497169613838196
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025444030761719,
                "transform": {
                    "location": {
                        "x": -78.8446044921875,
                        "y": 4294.73193359375,
                        "z": 372.7164611816406
                    },
                    "rotation": {
                        "roll": 0.0012149864342063665,
                        "pitch": 0.24307958781719208,
                        "yaw": 179.6686553955078
                    }
                },
                "velocity": {
                    "x": -8.02523136138916,
                    "y": 0.04862487316131592,
                    "z": 0.03250249847769737
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.6777873039245605,
                "transform": {
                    "location": {
                        "x": -25.046171188354492,
                        "y": 4294.4140625,
                        "z": 372.4908142089844
                    },
                    "rotation": {
                        "roll": 0.0005420440575107932,
                        "pitch": 0.21198856830596924,
                        "yaw": 179.45260620117188
                    }
                },
                "velocity": {
                    "x": -7.677554607391357,
                    "y": 0.050174158066511154,
                    "z": 0.03254180774092674
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3944575786590576,
        "expert_target_speed": 10.0,
        "target_point": [
            41.24775172646003,
            1.3258806884341379
        ],
        "target_point_next": [
            92.24100861015306,
            2.1540781030719685
        ]
    },
    "190": {
        "acceleration": [
            0.28072357177734375,
            -0.24550944566726685,
            0.004042237997055054
        ],
        "angular_velocity": [
            -0.03615058213472366,
            -0.4672321379184723,
            2.3900249004364014
        ],
        "forward_vector": [
            -0.9998385906219482,
            0.016903625801205635,
            0.006088934373110533
        ],
        "right_vector": [
            -0.01689526066184044,
            -0.9998562335968018,
            0.0014226335333660245
        ],
        "location": [
            -72.22882843017578,
            4292.2392578125,
            372.6887512207031
        ],
        "rotation": [
            -0.0815124362707138,
            0.3488723933696747,
            179.03143310546875
        ],
        "velocity": [
            -12.091010093688965,
            0.19716055691242218,
            0.049134910106658936
        ],
        "speed": 12.092617473933856,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -143.14601135253906,
                        "y": 4301.71337890625,
                        "z": 373.0616455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2175278514623642,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -142.3856201171875,
                        "y": 4298.45849609375,
                        "z": 372.998779296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2175278514623642,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065312385559082,
                "transform": {
                    "location": {
                        "x": -58.15578079223633,
                        "y": 4301.310546875,
                        "z": 372.6392822265625
                    },
                    "rotation": {
                        "roll": 0.00019345339387655258,
                        "pitch": -0.23721246421337128,
                        "yaw": -0.3289794921875
                    }
                },
                "velocity": {
                    "x": 8.065109252929688,
                    "y": -0.046309344470500946,
                    "z": -0.03371132165193558
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.078166007995605,
                "transform": {
                    "location": {
                        "x": -58.15851593017578,
                        "y": 4298.06103515625,
                        "z": 372.6246032714844
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": -0.23672068119049072,
                        "yaw": -0.336761474609375
                    }
                },
                "velocity": {
                    "x": 8.07795524597168,
                    "y": -0.04745607450604439,
                    "z": -0.03378795087337494
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0470609664917,
                "transform": {
                    "location": {
                        "x": -14.794062614440918,
                        "y": 4301.056640625,
                        "z": 372.4532470703125
                    },
                    "rotation": {
                        "roll": 0.0006466199411079288,
                        "pitch": -0.24734163284301758,
                        "yaw": -0.3497314453125
                    }
                },
                "velocity": {
                    "x": 8.046841621398926,
                    "y": -0.04913533106446266,
                    "z": -0.033392298966646194
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051009178161621,
                "transform": {
                    "location": {
                        "x": -14.832968711853027,
                        "y": 4297.80712890625,
                        "z": 372.45330810546875
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -0.24844811856746674,
                        "yaw": -0.3355408012866974
                    }
                },
                "velocity": {
                    "x": 8.050786972045898,
                    "y": -0.04892285168170929,
                    "z": -0.03438272699713707
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.104497909545898,
                "transform": {
                    "location": {
                        "x": -101.11335754394531,
                        "y": 4298.30712890625,
                        "z": 372.8006896972656
                    },
                    "rotation": {
                        "roll": -0.00024414065410383046,
                        "pitch": -0.22405751049518585,
                        "yaw": -0.2325133979320526
                    }
                },
                "velocity": {
                    "x": 8.104364395141602,
                    "y": -0.032715290784835815,
                    "z": -0.0330255851149559
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.164900779724121,
                "transform": {
                    "location": {
                        "x": -101.5199203491211,
                        "y": 4301.55908203125,
                        "z": 372.8472900390625
                    },
                    "rotation": {
                        "roll": 0.0019422945333644748,
                        "pitch": -0.20791777968406677,
                        "yaw": -0.2213134765625
                    }
                },
                "velocity": {
                    "x": 8.164762496948242,
                    "y": -0.033426426351070404,
                    "z": -0.03384631872177124
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.14976978302002,
                "transform": {
                    "location": {
                        "x": -44.711639404296875,
                        "y": 4294.53125,
                        "z": 372.5682678222656
                    },
                    "rotation": {
                        "roll": 0.0005769257550127804,
                        "pitch": 0.3060744106769562,
                        "yaw": 179.67027282714844
                    }
                },
                "velocity": {
                    "x": -8.14955997467041,
                    "y": 0.04772408679127693,
                    "z": 0.03380632400512695
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.8373384475708,
                "transform": {
                    "location": {
                        "x": -62.93156051635742,
                        "y": 4294.638671875,
                        "z": 372.6498107910156
                    },
                    "rotation": {
                        "roll": 0.00016745305038057268,
                        "pitch": 0.5202623009681702,
                        "yaw": 179.66525268554688
                    }
                },
                "velocity": {
                    "x": -8.83711051940918,
                    "y": 0.05163143575191498,
                    "z": 0.037056513130664825
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02682876586914,
                "transform": {
                    "location": {
                        "x": -80.8504638671875,
                        "y": 4294.74365234375,
                        "z": 372.7247314453125
                    },
                    "rotation": {
                        "roll": 0.0020990429911762476,
                        "pitch": 0.24343475699424744,
                        "yaw": 179.63560485839844
                    }
                },
                "velocity": {
                    "x": -8.026602745056152,
                    "y": 0.050226714462041855,
                    "z": 0.03324807062745094
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.278641700744629,
                "transform": {
                    "location": {
                        "x": -26.812265396118164,
                        "y": 4294.4248046875,
                        "z": 372.49835205078125
                    },
                    "rotation": {
                        "roll": -0.0001831054105423391,
                        "pitch": 0.1926318109035492,
                        "yaw": 179.43209838867188
                    }
                },
                "velocity": {
                    "x": -6.278459548950195,
                    "y": 0.03952116519212723,
                    "z": 0.02694088965654373
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3943041265010834,
        "expert_target_speed": 10.0,
        "target_point": [
            38.23406239418031,
            1.1161769281889815
        ],
        "target_point_next": [
            89.23096052216542,
            1.677015485910771
        ]
    },
    "195": {
        "acceleration": [
            2.4042701721191406,
            -0.06092339754104614,
            0.010691806674003601
        ],
        "angular_velocity": [
            0.20092357695102692,
            -0.8090717196464539,
            -0.9316748976707458
        ],
        "forward_vector": [
            -0.9999120831489563,
            0.012857405468821526,
            0.003240698715671897
        ],
        "right_vector": [
            -0.012853526510298252,
            -0.999916672706604,
            0.0012149270623922348
        ],
        "location": [
            -75.21195220947266,
            4292.2822265625,
            372.7015686035156
        ],
        "rotation": [
            -0.0696105808019638,
            0.18567867577075958,
            179.2633056640625
        ],
        "velocity": [
            -11.705541610717773,
            0.15097804367542267,
            0.049190882593393326
        ],
        "speed": 11.706515227424312,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.17805290222168,
                "transform": {
                    "location": {
                        "x": -141.1015625,
                        "y": 4301.70654296875,
                        "z": 372.9825744628906
                    },
                    "rotation": {
                        "roll": -0.006195067893713713,
                        "pitch": -0.2245219647884369,
                        "yaw": -0.09814453125
                    }
                },
                "velocity": {
                    "x": 8.174919128417969,
                    "y": 0.0354553647339344,
                    "z": -0.2235749363899231
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.208024024963379,
                "transform": {
                    "location": {
                        "x": -140.34632873535156,
                        "y": 4298.45947265625,
                        "z": 372.9687805175781
                    },
                    "rotation": {
                        "roll": -0.0690612643957138,
                        "pitch": -0.27337148785591125,
                        "yaw": 0.11108464002609253
                    }
                },
                "velocity": {
                    "x": 8.207655906677246,
                    "y": 0.027291761711239815,
                    "z": -0.07274821400642395
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004538536071777,
                "transform": {
                    "location": {
                        "x": -56.147342681884766,
                        "y": 4301.298828125,
                        "z": 372.6309814453125
                    },
                    "rotation": {
                        "roll": -6.103511987021193e-05,
                        "pitch": -0.23626989126205444,
                        "yaw": -0.3323668837547302
                    }
                },
                "velocity": {
                    "x": 8.004335403442383,
                    "y": -0.04665962979197502,
                    "z": -0.032810505479574203
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023503303527832,
                "transform": {
                    "location": {
                        "x": -56.14609146118164,
                        "y": 4298.04931640625,
                        "z": 372.61627197265625
                    },
                    "rotation": {
                        "roll": -0.00012207034160383046,
                        "pitch": -0.23745834827423096,
                        "yaw": -0.3372497260570526
                    }
                },
                "velocity": {
                    "x": 8.023295402526855,
                    "y": -0.047197375446558,
                    "z": -0.0332554467022419
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05920124053955,
                "transform": {
                    "location": {
                        "x": -12.780468940734863,
                        "y": 4301.04443359375,
                        "z": 372.4445495605469
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": -0.2506747543811798,
                        "yaw": -0.3500976860523224
                    }
                },
                "velocity": {
                    "x": 8.058981895446777,
                    "y": -0.049302566796541214,
                    "z": -0.03330059349536896
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052973747253418,
                "transform": {
                    "location": {
                        "x": -12.819530487060547,
                        "y": 4297.79541015625,
                        "z": 372.4446105957031
                    },
                    "rotation": {
                        "roll": 1.1888065273524262e-05,
                        "pitch": -0.2496912181377411,
                        "yaw": -0.36395254731178284
                    }
                },
                "velocity": {
                    "x": 8.052751541137695,
                    "y": -0.049700815230607986,
                    "z": -0.03322486951947212
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.006745338439941,
                "transform": {
                    "location": {
                        "x": -99.10476684570312,
                        "y": 4298.2978515625,
                        "z": 372.7926940917969
                    },
                    "rotation": {
                        "roll": 0.00040799155249260366,
                        "pitch": -0.2381277084350586,
                        "yaw": -0.2736205756664276
                    }
                },
                "velocity": {
                    "x": 8.00656795501709,
                    "y": -0.041674815118312836,
                    "z": -0.03314221277832985
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.024872779846191,
                "transform": {
                    "location": {
                        "x": -99.4867172241211,
                        "y": 4301.5498046875,
                        "z": 372.83935546875
                    },
                    "rotation": {
                        "roll": 0.0015745586715638638,
                        "pitch": -0.2369665652513504,
                        "yaw": -0.2803344130516052
                    }
                },
                "velocity": {
                    "x": 8.024691581726074,
                    "y": -0.042376864701509476,
                    "z": -0.03344759717583656
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.13224983215332,
                "transform": {
                    "location": {
                        "x": -46.90374755859375,
                        "y": 4294.5439453125,
                        "z": 372.5773620605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3076726794242859,
                        "yaw": 179.6651611328125
                    }
                },
                "velocity": {
                    "x": -9.132018089294434,
                    "y": 0.053386982530355453,
                    "z": 0.03709767386317253
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024974822998047,
                "transform": {
                    "location": {
                        "x": -65.0145263671875,
                        "y": 4294.650390625,
                        "z": 372.6599426269531
                    },
                    "rotation": {
                        "roll": 0.0009078704752027988,
                        "pitch": 0.10875709354877472,
                        "yaw": 179.66146850585938
                    }
                },
                "velocity": {
                    "x": -8.02476692199707,
                    "y": 0.047463417053222656,
                    "z": 0.033038776367902756
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024782180786133,
                "transform": {
                    "location": {
                        "x": -82.85624694824219,
                        "y": 4294.75537109375,
                        "z": 372.73297119140625
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": 0.24016310274600983,
                        "yaw": 179.66494750976562
                    }
                },
                "velocity": {
                    "x": -8.024572372436523,
                    "y": 0.04755132272839546,
                    "z": 0.03328685835003853
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.366286277770996,
                "transform": {
                    "location": {
                        "x": -28.359453201293945,
                        "y": 4294.4384765625,
                        "z": 372.5045166015625
                    },
                    "rotation": {
                        "roll": 0.0010238849790766835,
                        "pitch": 0.22902989387512207,
                        "yaw": 179.92282104492188
                    }
                },
                "velocity": {
                    "x": -6.366148471832275,
                    "y": 0.03268807753920555,
                    "z": 0.026106804609298706
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.4210575819015503,
        "expert_target_speed": 10.0,
        "target_point": [
            35.254836707917406,
            0.9660490990978002
        ],
        "target_point_next": [
            86.2535868955589,
            1.3205034155548714
        ]
    },
    "200": {
        "acceleration": [
            1.5870475769042969,
            0.20179718732833862,
            -0.01209259033203125
        ],
        "angular_velocity": [
            0.2675435245037079,
            -0.07148890197277069,
            0.3053096532821655
        ],
        "forward_vector": [
            -0.9998789429664612,
            0.01554870419204235,
            0.00060605991166085
        ],
        "right_vector": [
            -0.015548789873719215,
            -0.9998791217803955,
            -0.0001367602526443079
        ],
        "location": [
            -78.04999542236328,
            4292.32470703125,
            372.7138977050781
        ],
        "rotation": [
            0.007835786789655685,
            0.034724678844213486,
            179.1090850830078
        ],
        "velocity": [
            -11.081555366516113,
            0.18865151703357697,
            0.04658634960651398
        ],
        "speed": 11.083161044397087,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.954293251037598,
                "transform": {
                    "location": {
                        "x": -139.0875701904297,
                        "y": 4301.712890625,
                        "z": 372.9559326171875
                    },
                    "rotation": {
                        "roll": -0.00335693359375,
                        "pitch": -0.22357256710529327,
                        "yaw": 0.22834153473377228
                    }
                },
                "velocity": {
                    "x": 7.954115390777588,
                    "y": 0.030325207859277725,
                    "z": -0.04372621327638626
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.008691787719727,
                "transform": {
                    "location": {
                        "x": -138.3203125,
                        "y": 4298.46435546875,
                        "z": 372.9557800292969
                    },
                    "rotation": {
                        "roll": -0.02496338076889515,
                        "pitch": -0.2503674030303955,
                        "yaw": 0.18962082266807556
                    }
                },
                "velocity": {
                    "x": 8.00854778289795,
                    "y": 0.026545759290456772,
                    "z": -0.0399840772151947
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06290054321289,
                "transform": {
                    "location": {
                        "x": -54.139217376708984,
                        "y": 4301.287109375,
                        "z": 372.6226806640625
                    },
                    "rotation": {
                        "roll": 0.0005571251967921853,
                        "pitch": -0.23770423233509064,
                        "yaw": -0.3363036811351776
                    }
                },
                "velocity": {
                    "x": 8.062690734863281,
                    "y": -0.047299280762672424,
                    "z": -0.03394142910838127
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074275970458984,
                "transform": {
                    "location": {
                        "x": -54.13328170776367,
                        "y": 4298.03759765625,
                        "z": 372.60797119140625
                    },
                    "rotation": {
                        "roll": 0.0004928807611577213,
                        "pitch": -0.23711682856082916,
                        "yaw": -0.3400573432445526
                    }
                },
                "velocity": {
                    "x": 8.074064254760742,
                    "y": -0.047938935458660126,
                    "z": -0.03357725217938423
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046174049377441,
                "transform": {
                    "location": {
                        "x": -10.767030715942383,
                        "y": 4301.033203125,
                        "z": 372.4358215332031
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": -0.25012150406837463,
                        "yaw": -0.350128173828125
                    }
                },
                "velocity": {
                    "x": 8.045953750610352,
                    "y": -0.04913017526268959,
                    "z": -0.03363943099975586
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05293083190918,
                "transform": {
                    "location": {
                        "x": -10.805859565734863,
                        "y": 4297.783203125,
                        "z": 372.4358825683594
                    },
                    "rotation": {
                        "roll": 0.00016097821935545653,
                        "pitch": -0.2488374412059784,
                        "yaw": -0.3433837592601776
                    }
                },
                "velocity": {
                    "x": 8.052699089050293,
                    "y": -0.05099005252122879,
                    "z": -0.033686112612485886
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05285358428955,
                "transform": {
                    "location": {
                        "x": -97.0981216430664,
                        "y": 4298.28857421875,
                        "z": 372.78448486328125
                    },
                    "rotation": {
                        "roll": -0.0009460450382903218,
                        "pitch": -0.2288523018360138,
                        "yaw": -0.29705810546875
                    }
                },
                "velocity": {
                    "x": 8.052680015563965,
                    "y": -0.041610993444919586,
                    "z": -0.03261648491024971
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.969079494476318,
                "transform": {
                    "location": {
                        "x": -97.49749755859375,
                        "y": 4301.5400390625,
                        "z": 372.83135986328125
                    },
                    "rotation": {
                        "roll": 0.0015094465343281627,
                        "pitch": -0.23913173377513885,
                        "yaw": -0.2784728407859802
                    }
                },
                "velocity": {
                    "x": 7.968900203704834,
                    "y": -0.04191817715764046,
                    "z": -0.033118657767772675
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.911332130432129,
                "transform": {
                    "location": {
                        "x": -49.05249786376953,
                        "y": 4294.556640625,
                        "z": 372.5871276855469
                    },
                    "rotation": {
                        "roll": 0.0015229667769744992,
                        "pitch": 0.197672501206398,
                        "yaw": 179.66526794433594
                    }
                },
                "velocity": {
                    "x": -7.911131858825684,
                    "y": 0.04621510952711105,
                    "z": 0.03212727606296539
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.931971549987793,
                "transform": {
                    "location": {
                        "x": -66.87281036376953,
                        "y": 4294.66162109375,
                        "z": 372.6684265136719
                    },
                    "rotation": {
                        "roll": 0.0003885989426635206,
                        "pitch": -0.11929607391357422,
                        "yaw": 179.6558837890625
                    }
                },
                "velocity": {
                    "x": -6.931787967681885,
                    "y": 0.04165017977356911,
                    "z": 0.028439274057745934
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025796890258789,
                "transform": {
                    "location": {
                        "x": -84.86210632324219,
                        "y": 4294.76708984375,
                        "z": 372.7411193847656
                    },
                    "rotation": {
                        "roll": -0.00027465811581350863,
                        "pitch": 0.24073682725429535,
                        "yaw": 179.63702392578125
                    }
                },
                "velocity": {
                    "x": -8.025580406188965,
                    "y": 0.04888160899281502,
                    "z": 0.03300065919756889
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.101627349853516,
                "transform": {
                    "location": {
                        "x": -30.041015625,
                        "y": 4294.44873046875,
                        "z": 372.51116943359375
                    },
                    "rotation": {
                        "roll": 0.002426302991807461,
                        "pitch": 0.26106348633766174,
                        "yaw": -179.8048095703125
                    }
                },
                "velocity": {
                    "x": -7.101508617401123,
                    "y": 0.02859676256775856,
                    "z": 0.0294954776763916
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.46798545122146606,
        "expert_target_speed": 10.0,
        "target_point": [
            32.41374799032327,
            1.059290434456615
        ],
        "target_point_next": [
            83.41135932272522,
            1.5510189705280653
        ]
    },
    "205": {
        "acceleration": [
            7.100791931152344,
            0.07778823375701904,
            -0.006298050284385681
        ],
        "angular_velocity": [
            0.013667828403413296,
            -1.541284441947937,
            -2.2639150619506836
        ],
        "forward_vector": [
            -0.999763548374176,
            0.02138521708548069,
            -0.003934015054255724
        ],
        "right_vector": [
            -0.021381748840212822,
            -0.9997709393501282,
            -0.0009213615558110178
        ],
        "location": [
            -80.67851257324219,
            4292.3759765625,
            372.7256164550781
        ],
        "rotation": [
            0.05279054492712021,
            -0.2254030555486679,
            178.7746124267578
        ],
        "velocity": [
            -9.622442245483398,
            0.21969787776470184,
            0.040418852120637894
        ],
        "speed": 9.624949970008046,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.148346900939941,
                "transform": {
                    "location": {
                        "x": -137.07359313964844,
                        "y": 4301.720703125,
                        "z": 372.9480895996094
                    },
                    "rotation": {
                        "roll": -0.0032043454702943563,
                        "pitch": -0.22171476483345032,
                        "yaw": 0.2277223914861679
                    }
                },
                "velocity": {
                    "x": 8.148245811462402,
                    "y": 0.02802293188869953,
                    "z": -0.02938978187739849
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.196589469909668,
                "transform": {
                    "location": {
                        "x": -136.29344177246094,
                        "y": 4298.47119140625,
                        "z": 372.9466857910156
                    },
                    "rotation": {
                        "roll": -0.01275634765625,
                        "pitch": -0.22937139868736267,
                        "yaw": 0.19146710634231567
                    }
                },
                "velocity": {
                    "x": 8.19647216796875,
                    "y": 0.02776162326335907,
                    "z": -0.03380241245031357
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005781173706055,
                "transform": {
                    "location": {
                        "x": -52.13077926635742,
                        "y": 4301.275390625,
                        "z": 372.6142883300781
                    },
                    "rotation": {
                        "roll": 0.0002880475076381117,
                        "pitch": -0.23663188517093658,
                        "yaw": -0.3360595703125
                    }
                },
                "velocity": {
                    "x": 8.005577087402344,
                    "y": -0.046913255006074905,
                    "z": -0.032700877636671066
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024028778076172,
                "transform": {
                    "location": {
                        "x": -52.12109375,
                        "y": 4298.02587890625,
                        "z": 372.5996398925781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": -0.23855116963386536,
                        "yaw": -0.3409424126148224
                    }
                },
                "velocity": {
                    "x": 8.02381706237793,
                    "y": -0.04768401384353638,
                    "z": -0.033600304275751114
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -8.726484298706055,
                        "y": 4300.99853515625,
                        "z": 372.4270935058594
                    },
                    "rotation": {
                        "roll": 1.0422143009725104e-10,
                        "pitch": -0.2532975375652313,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -8.764843940734863,
                        "y": 4297.748046875,
                        "z": 372.4272155761719
                    },
                    "rotation": {
                        "roll": 1.0422143009725104e-10,
                        "pitch": -0.2532975375652313,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075698852539062,
                "transform": {
                    "location": {
                        "x": -95.07890319824219,
                        "y": 4298.27783203125,
                        "z": 372.7763671875
                    },
                    "rotation": {
                        "roll": 0.0010987523710355163,
                        "pitch": -0.23241765797138214,
                        "yaw": -0.3051146864891052
                    }
                },
                "velocity": {
                    "x": 8.075518608093262,
                    "y": -0.04305870085954666,
                    "z": -0.03257780894637108
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.089254379272461,
                "transform": {
                    "location": {
                        "x": -95.48507690429688,
                        "y": 4301.52978515625,
                        "z": 372.8230285644531
                    },
                    "rotation": {
                        "roll": 0.0006619199994020164,
                        "pitch": -0.22409166395664215,
                        "yaw": -0.3219604194164276
                    }
                },
                "velocity": {
                    "x": 8.089061737060547,
                    "y": -0.04524723440408707,
                    "z": -0.03274601697921753
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.591337203979492,
                "transform": {
                    "location": {
                        "x": -50.8439826965332,
                        "y": 4294.56689453125,
                        "z": 372.5948486328125
                    },
                    "rotation": {
                        "roll": 5.2110402798399846e-11,
                        "pitch": 0.15728558599948883,
                        "yaw": 179.6642303466797
                    }
                },
                "velocity": {
                    "x": -6.591154098510742,
                    "y": 0.040104761719703674,
                    "z": 0.028312673792243004
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.12774133682251,
                "transform": {
                    "location": {
                        "x": -68.60366821289062,
                        "y": 4294.67138671875,
                        "z": 372.6746826171875
                    },
                    "rotation": {
                        "roll": 0.0005097410758025944,
                        "pitch": 0.12066894769668579,
                        "yaw": 179.65928649902344
                    }
                },
                "velocity": {
                    "x": -7.127555847167969,
                    "y": 0.04241997003555298,
                    "z": 0.029130401089787483
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026481628417969,
                "transform": {
                    "location": {
                        "x": -86.86796569824219,
                        "y": 4294.77880859375,
                        "z": 372.74932861328125
                    },
                    "rotation": {
                        "roll": 0.00031528776162303984,
                        "pitch": 0.24147449433803558,
                        "yaw": 179.66383361816406
                    }
                },
                "velocity": {
                    "x": -8.026264190673828,
                    "y": 0.04902557283639908,
                    "z": 0.03289453312754631
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.649566650390625,
                "transform": {
                    "location": {
                        "x": -31.91960906982422,
                        "y": 4294.45458984375,
                        "z": 372.51898193359375
                    },
                    "rotation": {
                        "roll": 0.0014663665788248181,
                        "pitch": 0.26003894209861755,
                        "yaw": 179.94805908203125
                    }
                },
                "velocity": {
                    "x": -7.649425029754639,
                    "y": 0.03454900532960892,
                    "z": 0.03127492964267731
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5814880132675171,
        "expert_target_speed": 9.743769426597677,
        "target_point": [
            29.777999774606364,
            1.2435316537633883
        ],
        "target_point_next": [
            80.77187179976569,
            2.0329456424857657
        ]
    },
    "210": {
        "acceleration": [
            2.7640724182128906,
            -0.3230327367782593,
            -0.008477568626403809
        ],
        "angular_velocity": [
            -0.18615737557411194,
            0.648058295249939,
            3.3524348735809326
        ],
        "forward_vector": [
            -0.9997323155403137,
            0.02264772541821003,
            -0.004728060681372881
        ],
        "right_vector": [
            -0.022647399455308914,
            -0.9997435212135315,
            -0.00012258585775271058
        ],
        "location": [
            -82.92476654052734,
            4292.42724609375,
            372.7349853515625
        ],
        "rotation": [
            0.00702373031526804,
            -0.2708989381790161,
            178.70225524902344
        ],
        "velocity": [
            -8.563955307006836,
            0.17896652221679688,
            0.03644706681370735
        ],
        "speed": 8.565825092569012,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.578684329986572,
                "transform": {
                    "location": {
                        "x": -135.0828857421875,
                        "y": 4301.7265625,
                        "z": 372.94085693359375
                    },
                    "rotation": {
                        "roll": -0.0008239744347520173,
                        "pitch": -0.229125514626503,
                        "yaw": 0.18142308294773102
                    }
                },
                "velocity": {
                    "x": 7.578616142272949,
                    "y": 0.013620701618492603,
                    "z": -0.029150715097784996
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.997579574584961,
                "transform": {
                    "location": {
                        "x": -134.27015686035156,
                        "y": 4298.47509765625,
                        "z": 372.9386291503906
                    },
                    "rotation": {
                        "roll": 0.01941358670592308,
                        "pitch": -0.23218543827533722,
                        "yaw": 0.08579354733228683
                    }
                },
                "velocity": {
                    "x": 7.997513294219971,
                    "y": -0.0007600774988532066,
                    "z": -0.0325162410736084
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064458847045898,
                "transform": {
                    "location": {
                        "x": -50.12187576293945,
                        "y": 4301.263671875,
                        "z": 372.60595703125
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.23873558640480042,
                        "yaw": -0.3382873833179474
                    }
                },
                "velocity": {
                    "x": 8.064239501953125,
                    "y": -0.04935399815440178,
                    "z": -0.03326524794101715
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075302124023438,
                "transform": {
                    "location": {
                        "x": -50.108123779296875,
                        "y": 4298.01416015625,
                        "z": 372.5912780761719
                    },
                    "rotation": {
                        "roll": -0.00115966796875,
                        "pitch": -0.2378203421831131,
                        "yaw": -0.3408508002758026
                    }
                },
                "velocity": {
                    "x": 8.075088500976562,
                    "y": -0.048032257705926895,
                    "z": -0.03395199775695801
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3719,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -6.644453048706055,
                        "y": 4300.93017578125,
                        "z": 372.4186096191406
                    },
                    "rotation": {
                        "roll": 1.0422143009725104e-10,
                        "pitch": -0.2532975375652313,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -6.682656288146973,
                        "y": 4297.6796875,
                        "z": 372.418701171875
                    },
                    "rotation": {
                        "roll": 1.0422143009725104e-10,
                        "pitch": -0.2532975375652313,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.010119438171387,
                "transform": {
                    "location": {
                        "x": -93.07093811035156,
                        "y": 4298.26611328125,
                        "z": 372.7682189941406
                    },
                    "rotation": {
                        "roll": 0.00031565362587571144,
                        "pitch": -0.23320996761322021,
                        "yaw": -0.317138671875
                    }
                },
                "velocity": {
                    "x": 8.009926795959473,
                    "y": -0.04426996782422066,
                    "z": -0.033607617020606995
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.003046989440918,
                "transform": {
                    "location": {
                        "x": -93.47343444824219,
                        "y": 4301.517578125,
                        "z": 372.8150329589844
                    },
                    "rotation": {
                        "roll": 6.495301204267889e-05,
                        "pitch": -0.2377861887216568,
                        "yaw": -0.3061523139476776
                    }
                },
                "velocity": {
                    "x": 8.002848625183105,
                    "y": -0.04484014958143234,
                    "z": -0.03403555229306221
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.392811298370361,
                "transform": {
                    "location": {
                        "x": -52.43531036376953,
                        "y": 4294.57666015625,
                        "z": 372.60107421875
                    },
                    "rotation": {
                        "roll": -0.0007019040640443563,
                        "pitch": 0.20891498029232025,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": -6.392647743225098,
                    "y": 0.0377996563911438,
                    "z": 0.02569952979683876
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.174894332885742,
                "transform": {
                    "location": {
                        "x": -70.5301513671875,
                        "y": 4294.68310546875,
                        "z": 372.68121337890625
                    },
                    "rotation": {
                        "roll": 0.0005208859802223742,
                        "pitch": 0.5059394240379333,
                        "yaw": 179.65652465820312
                    }
                },
                "velocity": {
                    "x": -8.17467975616455,
                    "y": 0.04895872622728348,
                    "z": 0.033351946622133255
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025290489196777,
                "transform": {
                    "location": {
                        "x": -88.87382507324219,
                        "y": 4294.79052734375,
                        "z": 372.757568359375
                    },
                    "rotation": {
                        "roll": -0.0008239742019213736,
                        "pitch": 0.24087344110012054,
                        "yaw": 179.63607788085938
                    }
                },
                "velocity": {
                    "x": -8.02507209777832,
                    "y": 0.04895726218819618,
                    "z": 0.03325566276907921
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.804210662841797,
                "transform": {
                    "location": {
                        "x": -34.06781005859375,
                        "y": 4294.4638671875,
                        "z": 372.52783203125
                    },
                    "rotation": {
                        "roll": 0.002080409787595272,
                        "pitch": 0.2725655138492584,
                        "yaw": 179.76583862304688
                    }
                },
                "velocity": {
                    "x": -8.804004669189453,
                    "y": 0.04778609052300453,
                    "z": 0.0366823673248291
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.655102014541626,
        "expert_target_speed": 9.021928055008914,
        "target_point": [
            27.52956630462245,
            1.2815281160802376
        ],
        "target_point_next": [
            78.52240050733397,
            2.1353539406444217
        ]
    },
    "215": {
        "acceleration": [
            0.6204605102539062,
            -0.27565643191337585,
            -0.0013591349124908447
        ],
        "angular_velocity": [
            -0.20001232624053955,
            0.8982048034667969,
            -0.8358823657035828
        ],
        "forward_vector": [
            -0.9998692274093628,
            0.01614157296717167,
            -0.0009731051977723837
        ],
        "right_vector": [
            -0.01614258624613285,
            -0.999869167804718,
            0.0010428931564092636
        ],
        "location": [
            -85.013671875,
            4292.4619140625,
            372.7428894042969
        ],
        "rotation": [
            -0.0597534142434597,
            -0.05575483292341232,
            179.0751190185547
        ],
        "velocity": [
            -8.228862762451172,
            0.10386824607849121,
            0.03351842984557152
        ],
        "speed": 8.229518271186896,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.525946617126465,
                "transform": {
                    "location": {
                        "x": -133.23257446289062,
                        "y": 4301.72802734375,
                        "z": 372.9337158203125
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.22628416121006012,
                        "yaw": 0.01752113737165928
                    }
                },
                "velocity": {
                    "x": 7.525884628295898,
                    "y": -0.009162728674709797,
                    "z": -0.029164552688598633
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.185280799865723,
                "transform": {
                    "location": {
                        "x": -132.24647521972656,
                        "y": 4298.4736328125,
                        "z": 372.93060302734375
                    },
                    "rotation": {
                        "roll": 0.018223069608211517,
                        "pitch": -0.2247883379459381,
                        "yaw": -0.054779052734375
                    }
                },
                "velocity": {
                    "x": 8.18520450592041,
                    "y": -0.012451226823031902,
                    "z": -0.03312450647354126
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00451374053955,
                "transform": {
                    "location": {
                        "x": -48.113670349121094,
                        "y": 4301.251953125,
                        "z": 372.59765625
                    },
                    "rotation": {
                        "roll": 0.0017934002680703998,
                        "pitch": -0.23721246421337128,
                        "yaw": -0.34356689453125
                    }
                },
                "velocity": {
                    "x": 8.004301071166992,
                    "y": -0.04816365987062454,
                    "z": -0.0330132432281971
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02275276184082,
                "transform": {
                    "location": {
                        "x": -48.095703125,
                        "y": 4298.00244140625,
                        "z": 372.58294677734375
                    },
                    "rotation": {
                        "roll": -0.0013427732046693563,
                        "pitch": -0.23848970234394073,
                        "yaw": -0.340911865234375
                    }
                },
                "velocity": {
                    "x": 8.022544860839844,
                    "y": -0.04778449609875679,
                    "z": -0.03239377588033676
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3718,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -4.599765300750732,
                        "y": 4297.6455078125,
                        "z": 372.4097595214844
                    },
                    "rotation": {
                        "roll": -5.211072545696638e-11,
                        "pitch": -0.2567741274833679,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.086772918701172,
                "transform": {
                    "location": {
                        "x": -91.05734252929688,
                        "y": 4298.25439453125,
                        "z": 372.75994873046875
                    },
                    "rotation": {
                        "roll": -0.00015258781786542386,
                        "pitch": -0.23288211226463318,
                        "yaw": -0.3205566108226776
                    }
                },
                "velocity": {
                    "x": 8.086563110351562,
                    "y": -0.04743456095457077,
                    "z": -0.03369586542248726
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.027188301086426,
                "transform": {
                    "location": {
                        "x": -91.47273254394531,
                        "y": 4301.50634765625,
                        "z": 372.8068542480469
                    },
                    "rotation": {
                        "roll": -0.0008850094745866954,
                        "pitch": -0.23320996761322021,
                        "yaw": -0.3372192680835724
                    }
                },
                "velocity": {
                    "x": 8.02699089050293,
                    "y": -0.04553057998418808,
                    "z": -0.03303765878081322
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.500871658325195,
                "transform": {
                    "location": {
                        "x": -54.16554641723633,
                        "y": 4294.5869140625,
                        "z": 372.6076965332031
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.28381484746932983,
                        "yaw": 179.65843200683594
                    }
                },
                "velocity": {
                    "x": -7.500678539276123,
                    "y": 0.044472530484199524,
                    "z": 0.030359381809830666
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.210243225097656,
                "transform": {
                    "location": {
                        "x": -72.68859100341797,
                        "y": 4294.6953125,
                        "z": 372.6894836425781
                    },
                    "rotation": {
                        "roll": -0.0002441406832076609,
                        "pitch": 0.6739415526390076,
                        "yaw": 179.6570587158203
                    }
                },
                "velocity": {
                    "x": -9.210003852844238,
                    "y": 0.05518055334687233,
                    "z": 0.037000950425863266
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026001930236816,
                "transform": {
                    "location": {
                        "x": -90.87968444824219,
                        "y": 4294.80224609375,
                        "z": 372.7657775878906
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": 0.24073682725429535,
                        "yaw": 179.6709442138672
                    }
                },
                "velocity": {
                    "x": -8.025789260864258,
                    "y": 0.047949403524398804,
                    "z": 0.0333779901266098
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.24163818359375,
                "transform": {
                    "location": {
                        "x": -36.178436279296875,
                        "y": 4294.47412109375,
                        "z": 372.5371398925781
                    },
                    "rotation": {
                        "roll": 0.0010900655761361122,
                        "pitch": 0.22775264084339142,
                        "yaw": 179.6020965576172
                    }
                },
                "velocity": {
                    "x": -8.24139404296875,
                    "y": 0.05318377912044525,
                    "z": 0.034540385007858276
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6506248116493225,
        "expert_target_speed": 8.775857712583608,
        "target_point": [
            25.448130519490828,
            1.1032893651840259
        ],
        "target_point_next": [
            76.44544144236507,
            1.6252445352988885
        ]
    },
    "220": {
        "acceleration": [
            -0.0567626953125,
            -0.2618897557258606,
            -0.0009012222290039062
        ],
        "angular_velocity": [
            0.006640024017542601,
            0.5163592100143433,
            4.4850335121154785
        ],
        "forward_vector": [
            -0.9999682903289795,
            0.007675705943256617,
            0.0021266918629407883
        ],
        "right_vector": [
            -0.0076726339757442474,
            -0.999969482421875,
            0.001448756200261414
        ],
        "location": [
            -87.06507873535156,
            4292.48095703125,
            372.7505798339844
        ],
        "rotation": [
            -0.0830078274011612,
            0.12185056507587433,
            179.56021118164062
        ],
        "velocity": [
            -8.193801879882812,
            0.03692328557372093,
            0.03343537077307701
        ],
        "speed": 8.193885072161354,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.391448020935059,
                "transform": {
                    "location": {
                        "x": -131.22756958007812,
                        "y": 4301.7255859375,
                        "z": 372.92572021484375
                    },
                    "rotation": {
                        "roll": 0.0007933703600428998,
                        "pitch": -0.20657223463058472,
                        "yaw": -0.10125732421875
                    }
                },
                "velocity": {
                    "x": 8.391361236572266,
                    "y": -0.018723750486969948,
                    "z": -0.033342208713293076
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.428438186645508,
                "transform": {
                    "location": {
                        "x": -130.3524169921875,
                        "y": 4298.4697265625,
                        "z": 372.9246826171875
                    },
                    "rotation": {
                        "roll": 0.014053016901016235,
                        "pitch": -0.6374546885490417,
                        "yaw": -0.1089172288775444
                    }
                },
                "velocity": {
                    "x": 6.428356170654297,
                    "y": -0.020083870738744736,
                    "z": -0.025442752987146378
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064623832702637,
                "transform": {
                    "location": {
                        "x": -46.10484313964844,
                        "y": 4301.240234375,
                        "z": 372.58929443359375
                    },
                    "rotation": {
                        "roll": 0.00041404107469134033,
                        "pitch": -0.23907709121704102,
                        "yaw": -0.3440551459789276
                    }
                },
                "velocity": {
                    "x": 8.064408302307129,
                    "y": -0.048434384167194366,
                    "z": -0.03355967998504639
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077442169189453,
                "transform": {
                    "location": {
                        "x": -46.08296585083008,
                        "y": 4297.99072265625,
                        "z": 372.5745544433594
                    },
                    "rotation": {
                        "roll": -0.0008544921292923391,
                        "pitch": -0.23764276504516602,
                        "yaw": -0.3405151069164276
                    }
                },
                "velocity": {
                    "x": 8.07723331451416,
                    "y": -0.048043087124824524,
                    "z": -0.03253050148487091
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.017642974853516,
                "transform": {
                    "location": {
                        "x": -89.04483795166016,
                        "y": 4298.24267578125,
                        "z": 372.7517395019531
                    },
                    "rotation": {
                        "roll": -0.0008544922457076609,
                        "pitch": -0.23568248748779297,
                        "yaw": -0.3313293755054474
                    }
                },
                "velocity": {
                    "x": 8.017439842224121,
                    "y": -0.046387046575546265,
                    "z": -0.03321563079953194
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.048078536987305,
                "transform": {
                    "location": {
                        "x": -89.4609375,
                        "y": 4301.494140625,
                        "z": 372.7986145019531
                    },
                    "rotation": {
                        "roll": 0.00016759391291998327,
                        "pitch": -0.23309385776519775,
                        "yaw": -0.3119201064109802
                    }
                },
                "velocity": {
                    "x": 8.047883987426758,
                    "y": -0.04553650692105293,
                    "z": -0.03243662789463997
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.654130935668945,
                "transform": {
                    "location": {
                        "x": -56.189998626708984,
                        "y": 4294.5986328125,
                        "z": 372.6158447265625
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": 0.313157320022583,
                        "yaw": 179.66265869140625
                    }
                },
                "velocity": {
                    "x": -8.653912544250488,
                    "y": 0.05046472325921059,
                    "z": 0.03493043780326843
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.383981704711914,
                "transform": {
                    "location": {
                        "x": -74.89749908447266,
                        "y": 4294.708984375,
                        "z": 372.7001037597656
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.2286473959684372,
                        "yaw": 179.6587371826172
                    }
                },
                "velocity": {
                    "x": -8.383760452270508,
                    "y": 0.04870583862066269,
                    "z": 0.03660598769783974
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026538848876953,
                "transform": {
                    "location": {
                        "x": -92.88554382324219,
                        "y": 4294.81396484375,
                        "z": 372.77392578125
                    },
                    "rotation": {
                        "roll": -0.00018310538143850863,
                        "pitch": 0.2391180843114853,
                        "yaw": 179.642333984375
                    }
                },
                "velocity": {
                    "x": -8.026315689086914,
                    "y": 0.04992479085922241,
                    "z": 0.03291410207748413
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.982406139373779,
                "transform": {
                    "location": {
                        "x": -38.198280334472656,
                        "y": 4294.48779296875,
                        "z": 372.5455322265625
                    },
                    "rotation": {
                        "roll": -0.00015258796338457614,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.58714294433594
                    }
                },
                "velocity": {
                    "x": -7.982166767120361,
                    "y": 0.05206846445798874,
                    "z": 0.03333432972431183
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6477221846580505,
        "expert_target_speed": 8.748499627890817,
        "target_point": [
            23.405066507216844,
            0.8910990334699324
        ],
        "target_point_next": [
            74.40496871356444,
            0.9812849908029629
        ]
    },
    "225": {
        "acceleration": [
            -1.14501953125,
            -0.25665152072906494,
            0.0029924511909484863
        ],
        "angular_velocity": [
            -0.0828128382563591,
            0.48983511328697205,
            -0.7121637463569641
        ],
        "forward_vector": [
            -0.9999912977218628,
            0.00011721350165316835,
            0.0041706436313688755
        ],
        "right_vector": [
            -0.00011056567018385977,
            -0.9999987483024597,
            0.0015941538149490952
        ],
        "location": [
            -89.12843322753906,
            4292.48291015625,
            372.7585754394531
        ],
        "rotation": [
            -0.0913391187787056,
            0.23896098136901855,
            179.9932861328125
        ],
        "velocity": [
            -8.351720809936523,
            -0.029139801859855652,
            0.03373461589217186
        ],
        "speed": 8.351771645296536,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.049205780029297,
                "transform": {
                    "location": {
                        "x": -129.16343688964844,
                        "y": 4301.7197265625,
                        "z": 372.9178161621094
                    },
                    "rotation": {
                        "roll": 0.001450060517527163,
                        "pitch": -0.2290913611650467,
                        "yaw": -0.1766967475414276
                    }
                },
                "velocity": {
                    "x": 8.049083709716797,
                    "y": -0.030221113935112953,
                    "z": -0.032441139221191406
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.75998067855835,
                "transform": {
                    "location": {
                        "x": -128.8707733154297,
                        "y": 4298.46435546875,
                        "z": 372.9189453125
                    },
                    "rotation": {
                        "roll": 0.010042041540145874,
                        "pitch": -0.6642768383026123,
                        "yaw": -0.2104797512292862
                    }
                },
                "velocity": {
                    "x": 5.759891033172607,
                    "y": -0.023514043539762497,
                    "z": -0.021895626559853554
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004350662231445,
                "transform": {
                    "location": {
                        "x": -44.096405029296875,
                        "y": 4301.228515625,
                        "z": 372.5809326171875
                    },
                    "rotation": {
                        "roll": 0.00021849475160706788,
                        "pitch": -0.23775887489318848,
                        "yaw": -0.3437805473804474
                    }
                },
                "velocity": {
                    "x": 8.004138946533203,
                    "y": -0.0480283722281456,
                    "z": -0.03298468515276909
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022513389587402,
                "transform": {
                    "location": {
                        "x": -44.0705451965332,
                        "y": 4297.97900390625,
                        "z": 372.5661926269531
                    },
                    "rotation": {
                        "roll": 0.00020782294450327754,
                        "pitch": -0.23975329101085663,
                        "yaw": -0.3422240912914276
                    }
                },
                "velocity": {
                    "x": 8.022295951843262,
                    "y": -0.04935213923454285,
                    "z": -0.032560959458351135
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075347900390625,
                "transform": {
                    "location": {
                        "x": -87.03335571289062,
                        "y": 4298.23095703125,
                        "z": 372.7434997558594
                    },
                    "rotation": {
                        "roll": -0.0007934570894576609,
                        "pitch": -0.23413203656673431,
                        "yaw": -0.331939697265625
                    }
                },
                "velocity": {
                    "x": 8.075143814086914,
                    "y": -0.046769317239522934,
                    "z": -0.0333854965865612
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.016523361206055,
                "transform": {
                    "location": {
                        "x": -87.45421600341797,
                        "y": 4301.48291015625,
                        "z": 372.79046630859375
                    },
                    "rotation": {
                        "roll": 0.000892527517862618,
                        "pitch": -0.23718513548374176,
                        "yaw": -0.3416137397289276
                    }
                },
                "velocity": {
                    "x": 8.016312599182129,
                    "y": -0.04800356179475784,
                    "z": -0.03277998045086861
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.831686019897461,
                "transform": {
                    "location": {
                        "x": -58.43671798706055,
                        "y": 4294.6123046875,
                        "z": 372.6254577636719
                    },
                    "rotation": {
                        "roll": 0.0003153501311317086,
                        "pitch": 0.2633584141731262,
                        "yaw": 179.6621551513672
                    }
                },
                "velocity": {
                    "x": -8.831453323364258,
                    "y": 0.052190713584423065,
                    "z": 0.03714858740568161
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.30006217956543,
                "transform": {
                    "location": {
                        "x": -76.86062622070312,
                        "y": 4294.720703125,
                        "z": 372.70953369140625
                    },
                    "rotation": {
                        "roll": 0.0013663561549037695,
                        "pitch": -0.08938667923212051,
                        "yaw": 179.66049194335938
                    }
                },
                "velocity": {
                    "x": -7.299873352050781,
                    "y": 0.04310481995344162,
                    "z": 0.0299127958714962
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024669647216797,
                "transform": {
                    "location": {
                        "x": -94.89140319824219,
                        "y": 4294.82568359375,
                        "z": 372.7820739746094
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": 0.23834626376628876,
                        "yaw": 179.6666717529297
                    }
                },
                "velocity": {
                    "x": -8.024456977844238,
                    "y": 0.04848676174879074,
                    "z": 0.032563064247369766
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.806961536407471,
                "transform": {
                    "location": {
                        "x": -39.97406005859375,
                        "y": 4294.49853515625,
                        "z": 372.5531311035156
                    },
                    "rotation": {
                        "roll": -0.0014648436335846782,
                        "pitch": 0.20846419036388397,
                        "yaw": 179.4982147216797
                    }
                },
                "velocity": {
                    "x": -6.806739330291748,
                    "y": 0.04654302820563316,
                    "z": 0.029339026659727097
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5936771035194397,
        "expert_target_speed": 8.863808122821194,
        "target_point": [
            21.34777842458847,
            0.7158827924422242
        ],
        "target_point_next": [
            72.3469055117514,
            0.42059494758132887
        ]
    },
    "230": {
        "acceleration": [
            -1.8196296691894531,
            -0.0779452919960022,
            0.014962553977966309
        ],
        "angular_velocity": [
            0.11012385040521622,
            0.3834391236305237,
            3.075512409210205
        ],
        "forward_vector": [
            -0.9999632835388184,
            -0.005929711274802685,
            0.006182153709232807
        ],
        "right_vector": [
            0.005936518777161837,
            -0.9999817609786987,
            0.001083352486602962
        ],
        "location": [
            -91.26726531982422,
            4292.47216796875,
            372.76690673828125
        ],
        "rotation": [
            -0.06207272782921791,
            0.3542135953903198,
            -179.66024780273438
        ],
        "velocity": [
            -8.757936477661133,
            -0.060305722057819366,
            0.03518272191286087
        ],
        "speed": 8.75814410288278,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9550089836120605,
                "transform": {
                    "location": {
                        "x": -127.18171691894531,
                        "y": 4301.71240234375,
                        "z": 372.9100036621094
                    },
                    "rotation": {
                        "roll": 0.0008415339980274439,
                        "pitch": -0.22793705761432648,
                        "yaw": -0.24459834396839142
                    }
                },
                "velocity": {
                    "x": 7.954861164093018,
                    "y": -0.03618089109659195,
                    "z": -0.03227865323424339
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.8744916915893555,
                "transform": {
                    "location": {
                        "x": -127.35421752929688,
                        "y": 4298.45849609375,
                        "z": 372.9110107421875
                    },
                    "rotation": {
                        "roll": 0.003638634691014886,
                        "pitch": -0.1264677792787552,
                        "yaw": -0.1607971042394638
                    }
                },
                "velocity": {
                    "x": 6.874390602111816,
                    "y": -0.026760036125779152,
                    "z": -0.025880545377731323
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06564998626709,
                "transform": {
                    "location": {
                        "x": -42.08765411376953,
                        "y": 4301.216796875,
                        "z": 372.57257080078125
                    },
                    "rotation": {
                        "roll": 0.0006571399862878025,
                        "pitch": -0.2384282350540161,
                        "yaw": -0.3439941108226776
                    }
                },
                "velocity": {
                    "x": 8.065437316894531,
                    "y": -0.048418182879686356,
                    "z": -0.0329386368393898
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07646369934082,
                "transform": {
                    "location": {
                        "x": -42.05788803100586,
                        "y": 4297.96728515625,
                        "z": 372.55780029296875
                    },
                    "rotation": {
                        "roll": 0.00043948052916675806,
                        "pitch": -0.23851701617240906,
                        "yaw": -0.3447265625
                    }
                },
                "velocity": {
                    "x": 8.076248168945312,
                    "y": -0.04854055121541023,
                    "z": -0.033534787595272064
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025500297546387,
                "transform": {
                    "location": {
                        "x": -85.02069854736328,
                        "y": 4298.21923828125,
                        "z": 372.73529052734375
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.23504045605659485,
                        "yaw": -0.3320923149585724
                    }
                },
                "velocity": {
                    "x": 8.025297164916992,
                    "y": -0.0464923121035099,
                    "z": -0.033286333084106445
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.034914016723633,
                "transform": {
                    "location": {
                        "x": -85.44835662841797,
                        "y": 4301.47119140625,
                        "z": 372.78216552734375
                    },
                    "rotation": {
                        "roll": 7.651368650840595e-05,
                        "pitch": -0.23446671664714813,
                        "yaw": -0.3180541694164276
                    }
                },
                "velocity": {
                    "x": 8.03471565246582,
                    "y": -0.046361155807971954,
                    "z": -0.03213563933968544
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.310399055480957,
                "transform": {
                    "location": {
                        "x": -60.45343780517578,
                        "y": 4294.62451171875,
                        "z": 372.634521484375
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": 0.16853490471839905,
                        "yaw": 179.6590576171875
                    }
                },
                "velocity": {
                    "x": -7.3101983070373535,
                    "y": 0.04471816122531891,
                    "z": 0.03054117225110531
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.4552998542785645,
                "transform": {
                    "location": {
                        "x": -78.67757415771484,
                        "y": 4294.73095703125,
                        "z": 372.71630859375
                    },
                    "rotation": {
                        "roll": 0.0010110411094501615,
                        "pitch": 0.10372325032949448,
                        "yaw": 179.66029357910156
                    }
                },
                "velocity": {
                    "x": -7.455106735229492,
                    "y": 0.044250257313251495,
                    "z": 0.030409831553697586
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026430130004883,
                "transform": {
                    "location": {
                        "x": -96.89726257324219,
                        "y": 4294.83740234375,
                        "z": 372.7901916503906
                    },
                    "rotation": {
                        "roll": -0.000762939453125,
                        "pitch": 0.23838041722774506,
                        "yaw": 179.63348388671875
                    }
                },
                "velocity": {
                    "x": -8.026209831237793,
                    "y": 0.0495234951376915,
                    "z": 0.03287307545542717
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.301650047302246,
                "transform": {
                    "location": {
                        "x": -41.72077941894531,
                        "y": 4294.5107421875,
                        "z": 372.56011962890625
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": 0.24765580892562866,
                        "yaw": 179.5384521484375
                    }
                },
                "velocity": {
                    "x": -7.301429748535156,
                    "y": 0.04856481775641441,
                    "z": 0.029379138723015785
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5656130909919739,
        "expert_target_speed": 9.154272709945399,
        "target_point": [
            19.212858997626274,
            0.5887162746184458
        ],
        "target_point_next": [
            70.20926792032516,
            -0.01496870349055529
        ]
    },
    "235": {
        "acceleration": [
            -0.6536102294921875,
            -0.003696233034133911,
            -0.002204328775405884
        ],
        "angular_velocity": [
            0.1291896253824234,
            -0.20749631524085999,
            -2.078158378601074
        ],
        "forward_vector": [
            -0.9999473094940186,
            -0.007694141939282417,
            0.006793446373194456
        ],
        "right_vector": [
            0.00769837386906147,
            -0.9999701380729675,
            0.0005970667116343975
        ],
        "location": [
            -93.509765625,
            4292.45556640625,
            372.7758483886719
        ],
        "rotation": [
            -0.0342101976275444,
            0.38923880457878113,
            -179.55914306640625
        ],
        "velocity": [
            -9.103516578674316,
            -0.07508580386638641,
            0.036855801939964294
        ],
        "speed": 9.103826227259635,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.190462112426758,
                "transform": {
                    "location": {
                        "x": -125.1516342163086,
                        "y": 4301.703125,
                        "z": 372.9019470214844
                    },
                    "rotation": {
                        "roll": -0.0018005369929596782,
                        "pitch": -0.22054679691791534,
                        "yaw": -0.2717895209789276
                    }
                },
                "velocity": {
                    "x": 8.190298080444336,
                    "y": -0.040726836770772934,
                    "z": -0.032151564955711365
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.28415584564209,
                "transform": {
                    "location": {
                        "x": -125.43585968017578,
                        "y": 4298.45068359375,
                        "z": 372.902099609375
                    },
                    "rotation": {
                        "roll": 0.004976507276296616,
                        "pitch": 0.26197871565818787,
                        "yaw": -0.22302241623401642
                    }
                },
                "velocity": {
                    "x": 8.284022331237793,
                    "y": -0.034147702157497406,
                    "z": -0.03247328847646713
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004499435424805,
                "transform": {
                    "location": {
                        "x": -40.07929611206055,
                        "y": 4301.205078125,
                        "z": 372.5641784667969
                    },
                    "rotation": {
                        "roll": 0.0008283117786049843,
                        "pitch": -0.23806622624397278,
                        "yaw": -0.3434753715991974
                    }
                },
                "velocity": {
                    "x": 8.00428581237793,
                    "y": -0.048018425703048706,
                    "z": -0.033344510942697525
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02357006072998,
                "transform": {
                    "location": {
                        "x": -40.045467376708984,
                        "y": 4297.95556640625,
                        "z": 372.5494079589844
                    },
                    "rotation": {
                        "roll": 0.0017813567537814379,
                        "pitch": -0.240108460187912,
                        "yaw": -0.344512939453125
                    }
                },
                "velocity": {
                    "x": 8.023354530334473,
                    "y": -0.048230551183223724,
                    "z": -0.033736538141965866
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.072925567626953,
                "transform": {
                    "location": {
                        "x": -83.0082778930664,
                        "y": 4298.20751953125,
                        "z": 372.72705078125
                    },
                    "rotation": {
                        "roll": 0.00025636007194407284,
                        "pitch": -0.2349243462085724,
                        "yaw": -0.3323058485984802
                    }
                },
                "velocity": {
                    "x": 8.072720527648926,
                    "y": -0.046746157109737396,
                    "z": -0.03368170186877251
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.032788276672363,
                "transform": {
                    "location": {
                        "x": -83.43914031982422,
                        "y": 4301.45947265625,
                        "z": 372.77398681640625
                    },
                    "rotation": {
                        "roll": 0.0001326083583990112,
                        "pitch": -0.23506778478622437,
                        "yaw": -0.345367431640625
                    }
                },
                "velocity": {
                    "x": 8.032572746276855,
                    "y": -0.04819308966398239,
                    "z": -0.033885419368743896
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.911550045013428,
                "transform": {
                    "location": {
                        "x": -62.19265365600586,
                        "y": 4294.63427734375,
                        "z": 372.6415100097656
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": 0.19520679116249084,
                        "yaw": 179.65748596191406
                    }
                },
                "velocity": {
                    "x": -6.9113640785217285,
                    "y": 0.041276320815086365,
                    "z": 0.029454650357365608
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.2381010055542,
                "transform": {
                    "location": {
                        "x": -80.66734313964844,
                        "y": 4294.7431640625,
                        "z": 372.7232360839844
                    },
                    "rotation": {
                        "roll": 0.0010482418583706021,
                        "pitch": 0.4412643611431122,
                        "yaw": 179.6605987548828
                    }
                },
                "velocity": {
                    "x": -8.23789119720459,
                    "y": 0.04881365969777107,
                    "z": 0.032643672078847885
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026164054870605,
                "transform": {
                    "location": {
                        "x": -98.90312194824219,
                        "y": 4294.84912109375,
                        "z": 372.79827880859375
                    },
                    "rotation": {
                        "roll": -0.00033569338847883046,
                        "pitch": 0.23838724195957184,
                        "yaw": 179.66412353515625
                    }
                },
                "velocity": {
                    "x": -8.025945663452148,
                    "y": 0.04907091334462166,
                    "z": 0.03298486769199371
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.001285552978516,
                "transform": {
                    "location": {
                        "x": -43.637420654296875,
                        "y": 4294.5234375,
                        "z": 372.56793212890625
                    },
                    "rotation": {
                        "roll": 0.0002558943524491042,
                        "pitch": 0.2580445408821106,
                        "yaw": 179.62429809570312
                    }
                },
                "velocity": {
                    "x": -8.001043319702148,
                    "y": 0.052315354347229004,
                    "z": 0.03373027592897415
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.534756600856781,
        "expert_target_speed": 9.39188396898161,
        "target_point": [
            16.971306104227626,
            0.5554713079185589
        ],
        "target_point_next": [
            67.96657057818666,
            -0.1381855199789943
        ]
    },
    "240": {
        "acceleration": [
            2.4516677856445312,
            0.11832669377326965,
            -0.007593482732772827
        ],
        "angular_velocity": [
            0.12003931403160095,
            -0.9555522799491882,
            1.7600252628326416
        ],
        "forward_vector": [
            -0.9999697804450989,
            -0.0066328528337180614,
            0.004055369179695845
        ],
        "right_vector": [
            0.006632192991673946,
            -0.9999780058860779,
            -0.00017617565754335374
        ],
        "location": [
            -95.76296997070312,
            4292.4404296875,
            372.7855529785156
        ],
        "rotation": [
            0.010094204917550087,
            0.23235619068145752,
            -179.61996459960938
        ],
        "velocity": [
            -8.810101509094238,
            -0.04710841923952103,
            0.03656250983476639
        ],
        "speed": 8.810227454708977,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -164.4375,
                        "y": 4298.5888671875,
                        "z": 373.3995361328125
                    },
                    "rotation": {
                        "roll": -5.211051035125536e-11,
                        "pitch": -0.19540487229824066,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.990443706512451,
                "transform": {
                    "location": {
                        "x": -123.13046264648438,
                        "y": 4301.693359375,
                        "z": 372.89410400390625
                    },
                    "rotation": {
                        "roll": 0.000432284054113552,
                        "pitch": -0.22775264084339142,
                        "yaw": -0.2990722358226776
                    }
                },
                "velocity": {
                    "x": 7.990262985229492,
                    "y": -0.042647141963243484,
                    "z": -0.03263296186923981
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.176752090454102,
                "transform": {
                    "location": {
                        "x": -123.34664154052734,
                        "y": 4298.44091796875,
                        "z": 372.8949890136719
                    },
                    "rotation": {
                        "roll": 0.0067734080366790295,
                        "pitch": -0.02093452773988247,
                        "yaw": -0.2542724907398224
                    }
                },
                "velocity": {
                    "x": 8.176591873168945,
                    "y": -0.039299968630075455,
                    "z": -0.032852571457624435
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06495475769043,
                "transform": {
                    "location": {
                        "x": -38.0705451965332,
                        "y": 4301.193359375,
                        "z": 372.5558166503906
                    },
                    "rotation": {
                        "roll": 4.814154817722738e-05,
                        "pitch": -0.2393161505460739,
                        "yaw": -0.34356689453125
                    }
                },
                "velocity": {
                    "x": 8.064740180969238,
                    "y": -0.0484221987426281,
                    "z": -0.03364017233252525
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074652671813965,
                "transform": {
                    "location": {
                        "x": -38.03257751464844,
                        "y": 4297.94384765625,
                        "z": 372.541015625
                    },
                    "rotation": {
                        "roll": 0.00022872036788612604,
                        "pitch": -0.23950056731700897,
                        "yaw": -0.3446960151195526
                    }
                },
                "velocity": {
                    "x": 8.074440956115723,
                    "y": -0.04864785447716713,
                    "z": -0.03242833539843559
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -164.40367126464844,
                        "y": 4301.8388671875,
                        "z": 373.29638671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.19881996512413025,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02472972869873,
                "transform": {
                    "location": {
                        "x": -80.99585723876953,
                        "y": 4298.19580078125,
                        "z": 372.7187805175781
                    },
                    "rotation": {
                        "roll": 0.0010424652136862278,
                        "pitch": -0.23711682856082916,
                        "yaw": -0.3356017470359802
                    }
                },
                "velocity": {
                    "x": 8.024523735046387,
                    "y": -0.04700596258044243,
                    "z": -0.03299197182059288
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02556037902832,
                "transform": {
                    "location": {
                        "x": -81.43265533447266,
                        "y": 4301.447265625,
                        "z": 372.7657470703125
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": -0.2366933673620224,
                        "yaw": -0.3213805854320526
                    }
                },
                "velocity": {
                    "x": 8.025357246398926,
                    "y": -0.046874187886714935,
                    "z": -0.0325777567923069
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.731453895568848,
                "transform": {
                    "location": {
                        "x": -64.01179504394531,
                        "y": 4294.64501953125,
                        "z": 372.64849853515625
                    },
                    "rotation": {
                        "roll": 0.0005593884852714837,
                        "pitch": 0.2715819776058197,
                        "yaw": 179.6590118408203
                    }
                },
                "velocity": {
                    "x": -7.7312541007995605,
                    "y": 0.04620232433080673,
                    "z": 0.030931366607546806
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.735939025878906,
                "transform": {
                    "location": {
                        "x": -82.8309326171875,
                        "y": 4294.75634765625,
                        "z": 372.7319030761719
                    },
                    "rotation": {
                        "roll": -6.10350543865934e-05,
                        "pitch": 0.47803807258605957,
                        "yaw": 179.6600341796875
                    }
                },
                "velocity": {
                    "x": -8.735711097717285,
                    "y": 0.05182987079024315,
                    "z": 0.036126356571912766
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02507209777832,
                "transform": {
                    "location": {
                        "x": -100.90898132324219,
                        "y": 4294.86083984375,
                        "z": 372.806396484375
                    },
                    "rotation": {
                        "roll": 0.00035932668833993375,
                        "pitch": 0.23713049292564392,
                        "yaw": 179.63572692871094
                    }
                },
                "velocity": {
                    "x": -8.024847984313965,
                    "y": 0.05029846727848053,
                    "z": 0.03260151669383049
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.868734359741211,
                "transform": {
                    "location": {
                        "x": -45.81296920776367,
                        "y": 4294.53857421875,
                        "z": 372.576904296875
                    },
                    "rotation": {
                        "roll": -9.155272709904239e-05,
                        "pitch": 0.26573532819747925,
                        "yaw": 179.71652221679688
                    }
                },
                "velocity": {
                    "x": -8.868497848510742,
                    "y": 0.052778348326683044,
                    "z": 0.037658631801605225
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5364988446235657,
        "expert_target_speed": 9.187779172636128,
        "target_point": [
            14.71745176454677,
            0.5732936027881729
        ],
        "target_point_next": [
            65.71342378613133,
            -0.06623445577013626
        ]
    },
    "245": {
        "acceleration": [
            3.8481998443603516,
            0.11043373495340347,
            -0.003485456109046936
        ],
        "angular_velocity": [
            -0.016035282984375954,
            -0.7755541801452637,
            -3.311251163482666
        ],
        "forward_vector": [
            -0.9999949932098389,
            -0.0031723049469292164,
            -0.00014281272888183594
        ],
        "right_vector": [
            0.003172372467815876,
            -0.9999948740005493,
            -0.00047662152792327106
        ],
        "location": [
            -97.853515625,
            4292.43212890625,
            372.794921875
        ],
        "rotation": [
            0.027308404445648193,
            -0.008182566612958908,
            -179.8182373046875
        ],
        "velocity": [
            -7.9264817237854,
            -0.01763330027461052,
            0.032848987728357315
        ],
        "speed": 7.926501337335568,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6085776090621948,
                "transform": {
                    "location": {
                        "x": -164.43788146972656,
                        "y": 4298.5888671875,
                        "z": 372.99566650390625
                    },
                    "rotation": {
                        "roll": 0.0009147388045676053,
                        "pitch": -0.19793887436389923,
                        "yaw": -0.3386840522289276
                    }
                },
                "velocity": {
                    "x": -0.0020910908933728933,
                    "y": 5.7398145145270973e-05,
                    "z": -0.6085740327835083
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.09218978881836,
                "transform": {
                    "location": {
                        "x": -121.12406158447266,
                        "y": 4301.681640625,
                        "z": 372.88616943359375
                    },
                    "rotation": {
                        "roll": -0.0005493162898346782,
                        "pitch": -0.2256421148777008,
                        "yaw": -0.31585693359375
                    }
                },
                "velocity": {
                    "x": 8.091999053955078,
                    "y": -0.044572167098522186,
                    "z": -0.033194538205862045
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.801749229431152,
                "transform": {
                    "location": {
                        "x": -121.37179565429688,
                        "y": 4298.431640625,
                        "z": 372.88812255859375
                    },
                    "rotation": {
                        "roll": 0.0047810995019972324,
                        "pitch": -0.2836918830871582,
                        "yaw": -0.3033446967601776
                    }
                },
                "velocity": {
                    "x": 7.801577568054199,
                    "y": -0.04111900553107262,
                    "z": -0.03140677511692047
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004996299743652,
                "transform": {
                    "location": {
                        "x": -36.06203079223633,
                        "y": 4301.181640625,
                        "z": 372.5474548339844
                    },
                    "rotation": {
                        "roll": 0.0006327344453893602,
                        "pitch": -0.23837359249591827,
                        "yaw": -0.34393310546875
                    }
                },
                "velocity": {
                    "x": 8.00478458404541,
                    "y": -0.04801793769001961,
                    "z": -0.033067502081394196
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024277687072754,
                "transform": {
                    "location": {
                        "x": -36.020389556884766,
                        "y": 4297.93212890625,
                        "z": 372.5326232910156
                    },
                    "rotation": {
                        "roll": 0.000579142477363348,
                        "pitch": -0.2398967146873474,
                        "yaw": -0.34820556640625
                    }
                },
                "velocity": {
                    "x": 8.02405834197998,
                    "y": -0.0488349013030529,
                    "z": -0.03367083892226219
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.411642074584961,
                "transform": {
                    "location": {
                        "x": -165.9686737060547,
                        "y": 4301.84423828125,
                        "z": 373.0006103515625
                    },
                    "rotation": {
                        "roll": 0.010921071283519268,
                        "pitch": 0.1138797402381897,
                        "yaw": -0.5578307509422302
                    }
                },
                "velocity": {
                    "x": -5.407501697540283,
                    "y": 0.005621030926704407,
                    "z": 0.21157410740852356
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074002265930176,
                "transform": {
                    "location": {
                        "x": -78.98312377929688,
                        "y": 4298.18408203125,
                        "z": 372.71051025390625
                    },
                    "rotation": {
                        "roll": 0.00018695606559049338,
                        "pitch": -0.23624257743358612,
                        "yaw": -0.3420409858226776
                    }
                },
                "velocity": {
                    "x": 8.07379150390625,
                    "y": -0.04816702753305435,
                    "z": -0.03289974480867386
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.033906936645508,
                "transform": {
                    "location": {
                        "x": -79.42523193359375,
                        "y": 4301.43603515625,
                        "z": 372.7574462890625
                    },
                    "rotation": {
                        "roll": 0.0004985711420886219,
                        "pitch": -0.23663188517093658,
                        "yaw": -0.344451904296875
                    }
                },
                "velocity": {
                    "x": 8.033708572387695,
                    "y": -0.04612874984741211,
                    "z": -0.03249174356460571
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.991663932800293,
                "transform": {
                    "location": {
                        "x": -66.10836029052734,
                        "y": 4294.6572265625,
                        "z": 372.6568298339844
                    },
                    "rotation": {
                        "roll": 2.6450170480529778e-05,
                        "pitch": 0.3096056282520294,
                        "yaw": 179.65731811523438
                    }
                },
                "velocity": {
                    "x": -8.991426467895508,
                    "y": 0.05365549400448799,
                    "z": 0.037365272641181946
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.955691814422607,
                "transform": {
                    "location": {
                        "x": -84.89421844482422,
                        "y": 4294.76806640625,
                        "z": 372.7417907714844
                    },
                    "rotation": {
                        "roll": 0.0007060428033582866,
                        "pitch": 0.1043994352221489,
                        "yaw": 179.6604766845703
                    }
                },
                "velocity": {
                    "x": -7.955484390258789,
                    "y": 0.04720388352870941,
                    "z": 0.0327729806303978
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026618003845215,
                "transform": {
                    "location": {
                        "x": -102.91484069824219,
                        "y": 4294.87255859375,
                        "z": 372.8144836425781
                    },
                    "rotation": {
                        "roll": 4.730552245746367e-05,
                        "pitch": 0.23599667847156525,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": -8.026397705078125,
                    "y": 0.04955782741308212,
                    "z": 0.032963018864393234
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.37588119506836,
                "transform": {
                    "location": {
                        "x": -47.977108001708984,
                        "y": 4294.55078125,
                        "z": 372.58624267578125
                    },
                    "rotation": {
                        "roll": 0.0006251685554161668,
                        "pitch": 0.22719940543174744,
                        "yaw": 179.69810485839844
                    }
                },
                "velocity": {
                    "x": -8.375663757324219,
                    "y": 0.04857137054204941,
                    "z": 0.03591587767004967
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.592049777507782,
        "expert_target_speed": 8.54120073434355,
        "target_point": [
            12.624818058008705,
            0.6225557819675498
        ],
        "target_point_next": [
            63.62269800026113,
            0.1595223495620599
        ]
    },
    "250": {
        "acceleration": [
            0.15729904174804688,
            0.07814593613147736,
            0.010628700256347656
        ],
        "angular_velocity": [
            0.06726684421300888,
            0.5848323106765747,
            2.5243353843688965
        ],
        "forward_vector": [
            -0.9999979138374329,
            -0.0010761321755126119,
            -0.0017204275354743004
        ],
        "right_vector": [
            0.0010770779335871339,
            -0.9999992251396179,
            -0.000548884563613683
        ],
        "location": [
            -99.71484375,
            4292.4306640625,
            372.80279541015625
        ],
        "rotation": [
            0.031448815017938614,
            -0.09857328236103058,
            -179.93833923339844
        ],
        "velocity": [
            -7.152202129364014,
            0.005230582319200039,
            0.029329337179660797
        ],
        "speed": 7.152204041990869,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.227783203125,
                "transform": {
                    "location": {
                        "x": -164.43788146972656,
                        "y": 4298.5888671875,
                        "z": 373.0172119140625
                    },
                    "rotation": {
                        "roll": -0.0001525879488326609,
                        "pitch": -0.19848528504371643,
                        "yaw": -0.33868408203125
                    }
                },
                "velocity": {
                    "x": 0.0007979469373822212,
                    "y": 2.221274917246774e-05,
                    "z": 0.22778180241584778
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.071234703063965,
                "transform": {
                    "location": {
                        "x": -119.09944915771484,
                        "y": 4301.669921875,
                        "z": 372.8782043457031
                    },
                    "rotation": {
                        "roll": 0.0007643321878276765,
                        "pitch": -0.22692619264125824,
                        "yaw": -0.3179320693016052
                    }
                },
                "velocity": {
                    "x": 8.071043968200684,
                    "y": -0.04470258951187134,
                    "z": -0.03283965215086937
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.175093650817871,
                "transform": {
                    "location": {
                        "x": -119.37100982666016,
                        "y": 4298.4208984375,
                        "z": 372.8797912597656
                    },
                    "rotation": {
                        "roll": 0.005548824090510607,
                        "pitch": -0.15680064260959625,
                        "yaw": -0.2978515028953552
                    }
                },
                "velocity": {
                    "x": 8.174899101257324,
                    "y": -0.04587792605161667,
                    "z": -0.03289429470896721
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06412124633789,
                "transform": {
                    "location": {
                        "x": -34.05351638793945,
                        "y": 4301.169921875,
                        "z": 372.5390625
                    },
                    "rotation": {
                        "roll": -0.0010681153507903218,
                        "pitch": -0.23889268934726715,
                        "yaw": -0.3440246284008026
                    }
                },
                "velocity": {
                    "x": 8.063905715942383,
                    "y": -0.048399679362773895,
                    "z": -0.033659227192401886
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075505256652832,
                "transform": {
                    "location": {
                        "x": -34.00741958618164,
                        "y": 4297.92041015625,
                        "z": 372.5242004394531
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": -0.23950056731700897,
                        "yaw": -0.3485717177391052
                    }
                },
                "velocity": {
                    "x": 8.075287818908691,
                    "y": -0.049102842807769775,
                    "z": -0.033234503120183945
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.136373519897461,
                "transform": {
                    "location": {
                        "x": -167.28570556640625,
                        "y": 4301.8466796875,
                        "z": 373.04913330078125
                    },
                    "rotation": {
                        "roll": -3.051760722883046e-05,
                        "pitch": -0.1470949500799179,
                        "yaw": -1.1775511503219604
                    }
                },
                "velocity": {
                    "x": -5.134644031524658,
                    "y": 0.023556966334581375,
                    "z": 0.13118603825569153
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02381706237793,
                "transform": {
                    "location": {
                        "x": -76.97085571289062,
                        "y": 4298.17236328125,
                        "z": 372.7021789550781
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": -0.237034872174263,
                        "yaw": -0.3426818549633026
                    }
                },
                "velocity": {
                    "x": 8.023604393005371,
                    "y": -0.04799364134669304,
                    "z": -0.033225055783987045
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028111457824707,
                "transform": {
                    "location": {
                        "x": -77.41741943359375,
                        "y": 4301.423828125,
                        "z": 372.74920654296875
                    },
                    "rotation": {
                        "roll": 4.743367026094347e-05,
                        "pitch": -0.237034872174263,
                        "yaw": -0.3153686225414276
                    }
                },
                "velocity": {
                    "x": 8.027915000915527,
                    "y": -0.04604625701904297,
                    "z": -0.03217564895749092
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.56795883178711,
                "transform": {
                    "location": {
                        "x": -68.35906219482422,
                        "y": 4294.67138671875,
                        "z": 372.66656494140625
                    },
                    "rotation": {
                        "roll": -0.0006408690242096782,
                        "pitch": 0.23620842397212982,
                        "yaw": 179.65757751464844
                    }
                },
                "velocity": {
                    "x": -8.567726135253906,
                    "y": 0.051210734993219376,
                    "z": 0.03681635856628418
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.030661106109619,
                "transform": {
                    "location": {
                        "x": -86.7730484008789,
                        "y": 4294.779296875,
                        "z": 372.7501525878906
                    },
                    "rotation": {
                        "roll": 0.00020529850735329092,
                        "pitch": -0.08139535784721375,
                        "yaw": 179.6595916748047
                    }
                },
                "velocity": {
                    "x": -7.0304765701293945,
                    "y": 0.041772741824388504,
                    "z": 0.02916521020233631
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026082038879395,
                "transform": {
                    "location": {
                        "x": -104.92070007324219,
                        "y": 4294.88427734375,
                        "z": 372.8225402832031
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": 0.2356756627559662,
                        "yaw": 179.63096618652344
                    }
                },
                "velocity": {
                    "x": -8.025858879089355,
                    "y": 0.049831926822662354,
                    "z": 0.03329663351178169
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.355938911437988,
                "transform": {
                    "location": {
                        "x": -50.055076599121094,
                        "y": 4294.5625,
                        "z": 372.5949401855469
                    },
                    "rotation": {
                        "roll": 0.0002954260562546551,
                        "pitch": 0.2338588386774063,
                        "yaw": 179.69500732421875
                    }
                },
                "velocity": {
                    "x": -8.355740547180176,
                    "y": 0.047109443694353104,
                    "z": 0.033187590539455414
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6075734496116638,
        "expert_target_speed": 7.932475888880545,
        "target_point": [
            10.762157021885246,
            0.649550598170578
        ],
        "target_point_next": [
            61.76089535210111,
            0.29339432616514777
        ]
    },
    "255": {
        "acceleration": [
            6.491603851318359,
            0.04961179569363594,
            -0.04003562033176422
        ],
        "angular_velocity": [
            -0.08208537101745605,
            -1.0348551273345947,
            -2.9951393604278564
        ],
        "forward_vector": [
            -0.9999815821647644,
            0.001644972013309598,
            -0.005837526172399521
        ],
        "right_vector": [
            -0.001642706454731524,
            -0.9999985694885254,
            -0.00039288788684643805
        ],
        "location": [
            -101.3062515258789,
            4292.43310546875,
            372.8101501464844
        ],
        "rotation": [
            0.022511200979351997,
            -0.33446750044822693,
            179.90574645996094
        ],
        "velocity": [
            -5.447390079498291,
            0.016543088480830193,
            0.021499957889318466
        ],
        "speed": 5.447415199155731,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4022611379623413,
                "transform": {
                    "location": {
                        "x": -164.4313201904297,
                        "y": 4298.5888671875,
                        "z": 373.0466003417969
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": -0.19512483477592468,
                        "yaw": -0.337249755859375
                    }
                },
                "velocity": {
                    "x": 0.4008009731769562,
                    "y": 0.0011306565720587969,
                    "z": 0.03422461450099945
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.060126304626465,
                "transform": {
                    "location": {
                        "x": -117.08531188964844,
                        "y": 4301.658203125,
                        "z": 372.87017822265625
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": -0.22708328068256378,
                        "yaw": -0.3182067573070526
                    }
                },
                "velocity": {
                    "x": 8.059932708740234,
                    "y": -0.04476577788591385,
                    "z": -0.03338512033224106
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.007330894470215,
                "transform": {
                    "location": {
                        "x": -117.34124755859375,
                        "y": 4298.4091796875,
                        "z": 372.8720703125
                    },
                    "rotation": {
                        "roll": 0.002122249687090516,
                        "pitch": -0.23040275275707245,
                        "yaw": -0.338043212890625
                    }
                },
                "velocity": {
                    "x": 8.007134437561035,
                    "y": -0.04536419361829758,
                    "z": -0.03287198394536972
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006235122680664,
                "transform": {
                    "location": {
                        "x": -32.0451545715332,
                        "y": 4301.158203125,
                        "z": 372.53070068359375
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.23791596293449402,
                        "yaw": -0.345977783203125
                    }
                },
                "velocity": {
                    "x": 8.006011009216309,
                    "y": -0.04995903745293617,
                    "z": -0.03310486301779747
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02267074584961,
                "transform": {
                    "location": {
                        "x": -31.9952335357666,
                        "y": 4297.90869140625,
                        "z": 372.5158386230469
                    },
                    "rotation": {
                        "roll": -0.0006713866605423391,
                        "pitch": -0.23937763273715973,
                        "yaw": -0.3485412001609802
                    }
                },
                "velocity": {
                    "x": 8.022453308105469,
                    "y": -0.04883817955851555,
                    "z": -0.03311079367995262
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.556324005126953,
                "transform": {
                    "location": {
                        "x": -168.52484130859375,
                        "y": 4301.85595703125,
                        "z": 373.07049560546875
                    },
                    "rotation": {
                        "roll": -0.0477600134909153,
                        "pitch": -0.24411094188690186,
                        "yaw": -2.121765375137329
                    }
                },
                "velocity": {
                    "x": -3.5556960105895996,
                    "y": 0.04737411066889763,
                    "z": 0.04714663326740265
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07569408416748,
                "transform": {
                    "location": {
                        "x": -74.9578857421875,
                        "y": 4298.16064453125,
                        "z": 372.69390869140625
                    },
                    "rotation": {
                        "roll": -0.0013732908992096782,
                        "pitch": -0.23672068119049072,
                        "yaw": -0.3422851264476776
                    }
                },
                "velocity": {
                    "x": 8.075478553771973,
                    "y": -0.04828090965747833,
                    "z": -0.033776164054870605
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03060531616211,
                "transform": {
                    "location": {
                        "x": -75.4097671508789,
                        "y": 4301.41259765625,
                        "z": 372.7409362792969
                    },
                    "rotation": {
                        "roll": 0.0002848936419468373,
                        "pitch": -0.23681630194187164,
                        "yaw": -0.34503173828125
                    }
                },
                "velocity": {
                    "x": 8.03040599822998,
                    "y": -0.04649973288178444,
                    "z": -0.03222457319498062
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.855622291564941,
                "transform": {
                    "location": {
                        "x": -70.36968231201172,
                        "y": 4294.68310546875,
                        "z": 372.6752014160156
                    },
                    "rotation": {
                        "roll": 0.0004411425907164812,
                        "pitch": 0.19653868675231934,
                        "yaw": 179.65785217285156
                    }
                },
                "velocity": {
                    "x": -7.855414390563965,
                    "y": 0.04697643965482712,
                    "z": 0.03256862610578537
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.256682872772217,
                "transform": {
                    "location": {
                        "x": -88.53250122070312,
                        "y": 4294.7890625,
                        "z": 372.756591796875
                    },
                    "rotation": {
                        "roll": 0.0008425799896940589,
                        "pitch": 0.14107072353363037,
                        "yaw": 179.65570068359375
                    }
                },
                "velocity": {
                    "x": -7.256490707397461,
                    "y": 0.043582238256931305,
                    "z": 0.029763830825686455
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02609634399414,
                "transform": {
                    "location": {
                        "x": -106.92655944824219,
                        "y": 4294.89697265625,
                        "z": 372.8305358886719
                    },
                    "rotation": {
                        "roll": -0.0014038083609193563,
                        "pitch": 0.23582592606544495,
                        "yaw": 179.6553955078125
                    }
                },
                "velocity": {
                    "x": -8.025882720947266,
                    "y": 0.04861309006810188,
                    "z": 0.03267713636159897
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.372824668884277,
                "transform": {
                    "location": {
                        "x": -52.1721076965332,
                        "y": 4294.57373046875,
                        "z": 372.60357666015625
                    },
                    "rotation": {
                        "roll": 0.0007305636536329985,
                        "pitch": 0.24023139476776123,
                        "yaw": 179.65731811523438
                    }
                },
                "velocity": {
                    "x": -8.3726167678833,
                    "y": 0.048808176070451736,
                    "z": 0.03327140584588051
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6816475987434387,
        "expert_target_speed": 6.474903629863577,
        "target_point": [
            9.168940230880438,
            0.6786543636449174
        ],
        "target_point_next": [
            60.16845883161563,
            0.46125828000250485
        ]
    },
    "260": {
        "acceleration": [
            2.098979949951172,
            0.020865872502326965,
            -0.0053041428327560425
        ],
        "angular_velocity": [
            -0.007045416627079248,
            0.8645883202552795,
            -0.3524523675441742
        ],
        "forward_vector": [
            -0.9999819397926331,
            0.004013876896351576,
            -0.0044715250842273235
        ],
        "right_vector": [
            -0.0040124026127159595,
            -0.9999918937683105,
            -0.0003385326126590371
        ],
        "location": [
            -102.54468536376953,
            4292.43798828125,
            372.8144836425781
        ],
        "rotation": [
            0.01939668320119381,
            -0.25620037317276,
            179.77001953125
        ],
        "velocity": [
            -4.62286376953125,
            0.027310388162732124,
            0.017567433416843414
        ],
        "speed": 4.622944439309895,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.455717086791992,
                "transform": {
                    "location": {
                        "x": -164.00390625,
                        "y": 4298.58935546875,
                        "z": 373.0466613769531
                    },
                    "rotation": {
                        "roll": -0.0022583005484193563,
                        "pitch": -0.1565820723772049,
                        "yaw": -0.2134399116039276
                    }
                },
                "velocity": {
                    "x": 2.455658435821533,
                    "y": 0.012213649228215218,
                    "z": -0.011799992993474007
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.064088821411133,
                "transform": {
                    "location": {
                        "x": -115.06968688964844,
                        "y": 4301.64697265625,
                        "z": 372.86224365234375
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": -0.22595630586147308,
                        "yaw": -0.3204650282859802
                    }
                },
                "velocity": {
                    "x": 8.06389331817627,
                    "y": -0.04534931108355522,
                    "z": -0.0330875962972641
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.981265544891357,
                "transform": {
                    "location": {
                        "x": -115.35281372070312,
                        "y": 4298.3974609375,
                        "z": 372.8642578125
                    },
                    "rotation": {
                        "roll": -3.051759267691523e-05,
                        "pitch": -0.25113236904144287,
                        "yaw": -0.3112487494945526
                    }
                },
                "velocity": {
                    "x": 7.981068134307861,
                    "y": -0.045475736260414124,
                    "z": -0.032997723668813705
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -29.982810974121094,
                        "y": 4301.04931640625,
                        "z": 372.5188293457031
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.2393503040075302,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -29.92953109741211,
                        "y": 4297.8349609375,
                        "z": 372.5138244628906
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.2393503040075302,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6690904498100281,
                "transform": {
                    "location": {
                        "x": -168.93492126464844,
                        "y": 4301.86181640625,
                        "z": 373.07659912109375
                    },
                    "rotation": {
                        "roll": -0.069854736328125,
                        "pitch": -0.1259486824274063,
                        "yaw": -2.5319221019744873
                    }
                },
                "velocity": {
                    "x": -0.6689363718032837,
                    "y": 0.009861040860414505,
                    "z": 0.010433750227093697
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024154663085938,
                "transform": {
                    "location": {
                        "x": -72.94562530517578,
                        "y": 4298.14892578125,
                        "z": 372.6855773925781
                    },
                    "rotation": {
                        "roll": -3.0517559935105965e-05,
                        "pitch": -0.23635868728160858,
                        "yaw": -0.34588614106178284
                    }
                },
                "velocity": {
                    "x": 8.023940086364746,
                    "y": -0.048427242785692215,
                    "z": -0.03323439136147499
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029967308044434,
                "transform": {
                    "location": {
                        "x": -73.4019546508789,
                        "y": 4301.400390625,
                        "z": 372.7326354980469
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.2366592139005661,
                        "yaw": -0.3175048530101776
                    }
                },
                "velocity": {
                    "x": 8.029773712158203,
                    "y": -0.045014116913080215,
                    "z": -0.03283495455980301
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.565950393676758,
                "transform": {
                    "location": {
                        "x": -72.40718841552734,
                        "y": 4294.69482421875,
                        "z": 372.68316650390625
                    },
                    "rotation": {
                        "roll": -0.0015258785570040345,
                        "pitch": 0.26464250683784485,
                        "yaw": 179.66123962402344
                    }
                },
                "velocity": {
                    "x": -8.565733909606934,
                    "y": 0.050561074167490005,
                    "z": 0.03399745002388954
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.204787254333496,
                "transform": {
                    "location": {
                        "x": -90.48851013183594,
                        "y": 4294.80126953125,
                        "z": 372.7632751464844
                    },
                    "rotation": {
                        "roll": 0.00015191157581284642,
                        "pitch": 0.4938089847564697,
                        "yaw": 179.65652465820312
                    }
                },
                "velocity": {
                    "x": -8.204571723937988,
                    "y": 0.04919670149683952,
                    "z": 0.03336780518293381
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025891304016113,
                "transform": {
                    "location": {
                        "x": -108.93241882324219,
                        "y": 4294.90869140625,
                        "z": 372.8385314941406
                    },
                    "rotation": {
                        "roll": -0.0017395020695403218,
                        "pitch": 0.2354707568883896,
                        "yaw": 179.6378173828125
                    }
                },
                "velocity": {
                    "x": -8.025675773620605,
                    "y": 0.04877732694149017,
                    "z": 0.032806482166051865
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.065942287445068,
                "transform": {
                    "location": {
                        "x": -54.13874816894531,
                        "y": 4294.58544921875,
                        "z": 372.612060546875
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": 0.20253558456897736,
                        "yaw": 179.67843627929688
                    }
                },
                "velocity": {
                    "x": -7.065764427185059,
                    "y": 0.04085551202297211,
                    "z": 0.029070967808365822
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6751734614372253,
        "expert_target_speed": 5.718116335436168,
        "target_point": [
            7.928863361992232,
            0.7002852887514152
        ],
        "target_point_next": [
            58.92875385783001,
            0.6037038388041912
        ]
    },
    "265": {
        "acceleration": [
            0.8322525024414062,
            -0.01345660537481308,
            0.008152425289154053
        ],
        "angular_velocity": [
            -0.007783298846334219,
            0.7389535307884216,
            0.059270936995744705
        ],
        "forward_vector": [
            -0.9999860525131226,
            0.00522888358682394,
            -0.0007436274900101125
        ],
        "right_vector": [
            -0.005228751339018345,
            -0.9999863505363464,
            -0.00017984073201660067
        ],
        "location": [
            -103.65546417236328,
            4292.4453125,
            372.8182067871094
        ],
        "rotation": [
            0.010304118506610394,
            -0.042606718838214874,
            179.70040893554688
        ],
        "velocity": [
            -4.3069353103637695,
            0.027998626232147217,
            0.017612038180232048
        ],
        "speed": 4.307026316465822,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.3105077743530273,
                "transform": {
                    "location": {
                        "x": -163.27476501464844,
                        "y": 4298.591796875,
                        "z": 373.0436706542969
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": -0.1733980029821396,
                        "yaw": -0.034912109375
                    }
                },
                "velocity": {
                    "x": 3.3104324340820312,
                    "y": 0.017866188660264015,
                    "z": -0.013412675820291042
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081795692443848,
                "transform": {
                    "location": {
                        "x": -113.05046844482422,
                        "y": 4301.634765625,
                        "z": 372.854248046875
                    },
                    "rotation": {
                        "roll": 0.0004354328557383269,
                        "pitch": -0.22698765993118286,
                        "yaw": -0.3289794921875
                    }
                },
                "velocity": {
                    "x": 8.081595420837402,
                    "y": -0.04639716446399689,
                    "z": -0.03293182700872421
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.086896896362305,
                "transform": {
                    "location": {
                        "x": -113.3383560180664,
                        "y": 4298.3857421875,
                        "z": 372.8560485839844
                    },
                    "rotation": {
                        "roll": 0.001547676627524197,
                        "pitch": -0.20342351496219635,
                        "yaw": -0.338958740234375
                    }
                },
                "velocity": {
                    "x": 8.086692810058594,
                    "y": -0.047088220715522766,
                    "z": -0.03280296176671982
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -27.899608612060547,
                        "y": 4301.03466796875,
                        "z": 372.5100402832031
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.2393503040075302,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -27.84632682800293,
                        "y": 4297.8017578125,
                        "z": 372.50738525390625
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.2393503040075302,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3125927448272705,
                "transform": {
                    "location": {
                        "x": -168.96983337402344,
                        "y": 4301.8623046875,
                        "z": 373.0774230957031
                    },
                    "rotation": {
                        "roll": -0.08099365234375,
                        "pitch": -0.3338254690170288,
                        "yaw": -2.561004638671875
                    }
                },
                "velocity": {
                    "x": 0.3125188648700714,
                    "y": -0.0039502475410699844,
                    "z": -0.005530176218599081
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074958801269531,
                "transform": {
                    "location": {
                        "x": -70.93273162841797,
                        "y": 4298.13720703125,
                        "z": 372.6773376464844
                    },
                    "rotation": {
                        "roll": 0.00012071103265043348,
                        "pitch": -0.23648162186145782,
                        "yaw": -0.3463439345359802
                    }
                },
                "velocity": {
                    "x": 8.07474136352539,
                    "y": -0.04883909970521927,
                    "z": -0.03349830210208893
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030686378479004,
                "transform": {
                    "location": {
                        "x": -71.3941421508789,
                        "y": 4301.38916015625,
                        "z": 372.724365234375
                    },
                    "rotation": {
                        "roll": 0.00022807852656114846,
                        "pitch": -0.2363860011100769,
                        "yaw": -0.3468016982078552
                    }
                },
                "velocity": {
                    "x": 8.030478477478027,
                    "y": -0.046635642647743225,
                    "z": -0.034007251262664795
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.583096504211426,
                "transform": {
                    "location": {
                        "x": -74.57976531982422,
                        "y": 4294.70751953125,
                        "z": 372.6921691894531
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": 0.2432093620300293,
                        "yaw": 179.66592407226562
                    }
                },
                "velocity": {
                    "x": -8.582869529724121,
                    "y": 0.05005468800663948,
                    "z": 0.0374007485806942
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.990697860717773,
                "transform": {
                    "location": {
                        "x": -92.65811920166016,
                        "y": 4294.814453125,
                        "z": 372.77166748046875
                    },
                    "rotation": {
                        "roll": -0.0017700189491733909,
                        "pitch": 0.5963369607925415,
                        "yaw": 179.66098022460938
                    }
                },
                "velocity": {
                    "x": -8.99046516418457,
                    "y": 0.05313371866941452,
                    "z": 0.036897923797369
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026028633117676,
                "transform": {
                    "location": {
                        "x": -110.93827819824219,
                        "y": 4294.92041015625,
                        "z": 372.8465576171875
                    },
                    "rotation": {
                        "roll": 5.211064565968648e-11,
                        "pitch": 0.23467162251472473,
                        "yaw": 179.6634521484375
                    }
                },
                "velocity": {
                    "x": -8.02580738067627,
                    "y": 0.04925893247127533,
                    "z": 0.033498018980026245
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.5952067375183105,
                "transform": {
                    "location": {
                        "x": -55.80992126464844,
                        "y": 4294.59521484375,
                        "z": 372.6188659667969
                    },
                    "rotation": {
                        "roll": 0.0005703825154341757,
                        "pitch": 0.21232324838638306,
                        "yaw": 179.6929168701172
                    }
                },
                "velocity": {
                    "x": -6.595025539398193,
                    "y": 0.039350152015686035,
                    "z": 0.028938034549355507
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6808308959007263,
        "expert_target_speed": 5.421121417704701,
        "target_point": [
            57.81717495423419,
            0.6768171263052072
        ],
        "target_point_next": [
            62.16705854508714,
            0.6736814726148417
        ]
    },
    "270": {
        "acceleration": [
            0.48038482666015625,
            -0.05195994675159454,
            0.0032373517751693726
        ],
        "angular_velocity": [
            -0.03904752805829048,
            0.37999191880226135,
            0.22591090202331543
        ],
        "forward_vector": [
            -0.9999917149543762,
            0.003724235575646162,
            0.0016592732863500714
        ],
        "right_vector": [
            -0.0037237871438264847,
            -0.9999930262565613,
            0.000273239886155352
        ],
        "location": [
            -104.71382904052734,
            4292.44873046875,
            372.8218994140625
        ],
        "rotation": [
            -0.0156555138528347,
            0.09506940096616745,
            179.78662109375
        ],
        "velocity": [
            -4.165612697601318,
            0.0021152282133698463,
            0.01741861365735531
        ],
        "speed": 4.165613234639976,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.079154014587402,
                "transform": {
                    "location": {
                        "x": -162.345703125,
                        "y": 4298.59619140625,
                        "z": 373.04034423828125
                    },
                    "rotation": {
                        "roll": -0.0016479491023346782,
                        "pitch": -0.17923098802566528,
                        "yaw": 0.11938028037548065
                    }
                },
                "velocity": {
                    "x": 4.0790605545043945,
                    "y": 0.024058226495981216,
                    "z": -0.013542842119932175
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.046829223632812,
                "transform": {
                    "location": {
                        "x": -111.0356216430664,
                        "y": 4301.62353515625,
                        "z": 372.84625244140625
                    },
                    "rotation": {
                        "roll": -0.00021362303232308477,
                        "pitch": -0.22747260332107544,
                        "yaw": -0.329833984375
                    }
                },
                "velocity": {
                    "x": 8.04662799835205,
                    "y": -0.04629860818386078,
                    "z": -0.03314187750220299
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.997483253479004,
                "transform": {
                    "location": {
                        "x": -111.32882690429688,
                        "y": 4298.3740234375,
                        "z": 372.8482360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.24258098006248474,
                        "yaw": -0.3145751357078552
                    }
                },
                "velocity": {
                    "x": 7.99729061126709,
                    "y": -0.04490246996283531,
                    "z": -0.03262436017394066
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3895,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -25.81640625,
                        "y": 4301.01904296875,
                        "z": 372.50128173828125
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.2393503040075302,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 3894,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -25.763124465942383,
                        "y": 4297.77294921875,
                        "z": 372.50054931640625
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.2393503040075302,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1606218814849854,
                "transform": {
                    "location": {
                        "x": -168.7841339111328,
                        "y": 4301.85986328125,
                        "z": 373.0754699707031
                    },
                    "rotation": {
                        "roll": -0.043670654296875,
                        "pitch": -0.3553405702114105,
                        "yaw": -2.342010259628296
                    }
                },
                "velocity": {
                    "x": 1.1605103015899658,
                    "y": -0.012435130774974823,
                    "z": -0.010211562737822533
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022686958312988,
                "transform": {
                    "location": {
                        "x": -68.92108917236328,
                        "y": 4298.12548828125,
                        "z": 372.66900634765625
                    },
                    "rotation": {
                        "roll": -0.00024414058134425431,
                        "pitch": -0.23663188517093658,
                        "yaw": -0.3467101454734802
                    }
                },
                "velocity": {
                    "x": 8.02247142791748,
                    "y": -0.04854161664843559,
                    "z": -0.03325561806559563
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030195236206055,
                "transform": {
                    "location": {
                        "x": -69.3863296508789,
                        "y": 4301.37744140625,
                        "z": 372.7160949707031
                    },
                    "rotation": {
                        "roll": -0.0008239744347520173,
                        "pitch": -0.23659774661064148,
                        "yaw": -0.3231506049633026
                    }
                },
                "velocity": {
                    "x": 8.029995918273926,
                    "y": -0.0454261377453804,
                    "z": -0.03373299911618233
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.486316680908203,
                "transform": {
                    "location": {
                        "x": -76.71414184570312,
                        "y": 4294.71923828125,
                        "z": 372.7010498046875
                    },
                    "rotation": {
                        "roll": 0.0005557015538215637,
                        "pitch": 0.23667287826538086,
                        "yaw": 179.66647338867188
                    }
                },
                "velocity": {
                    "x": -8.486099243164062,
                    "y": 0.049340955913066864,
                    "z": 0.03548648580908775
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.102728843688965,
                "transform": {
                    "location": {
                        "x": -94.79093170166016,
                        "y": 4294.82666015625,
                        "z": 372.7820129394531
                    },
                    "rotation": {
                        "roll": 0.0006644297391176224,
                        "pitch": 0.1393563449382782,
                        "yaw": 179.6598358154297
                    }
                },
                "velocity": {
                    "x": -8.10251235961914,
                    "y": 0.049165304750204086,
                    "z": 0.03304065763950348
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026165008544922,
                "transform": {
                    "location": {
                        "x": -112.94406127929688,
                        "y": 4294.93212890625,
                        "z": 372.8545227050781
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": 0.233080193400383,
                        "yaw": 179.63658142089844
                    }
                },
                "velocity": {
                    "x": -8.025947570800781,
                    "y": 0.049113791435956955,
                    "z": 0.0328773595392704
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.277772426605225,
                "transform": {
                    "location": {
                        "x": -57.53202819824219,
                        "y": 4294.60498046875,
                        "z": 372.6257019042969
                    },
                    "rotation": {
                        "roll": -0.0006408690242096782,
                        "pitch": 0.2530653178691864,
                        "yaw": 179.69297790527344
                    }
                },
                "velocity": {
                    "x": -7.277586460113525,
                    "y": 0.043149061501026154,
                    "z": 0.02904159389436245
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6615447402000427,
        "expert_target_speed": 5.286802903547948,
        "target_point": [
            56.75975748577862,
            0.5893115195763534
        ],
        "target_point_next": [
            61.10963143678096,
            0.5796318146628558
        ]
    },
    "275": {
        "acceleration": [
            1.1719989776611328,
            -0.03633686155080795,
            -0.01594848930835724
        ],
        "angular_velocity": [
            0.0527660995721817,
            -0.07108265906572342,
            0.9384658932685852
        ],
        "forward_vector": [
            -0.9999966025352478,
            0.0013212247285991907,
            0.0022435167338699102
        ],
        "right_vector": [
            -0.0013206973671913147,
            -0.9999991059303284,
            0.0002364880929235369
        ],
        "location": [
            -105.73101043701172,
            4292.4482421875,
            372.8258972167969
        ],
        "rotation": [
            -0.013549803756177425,
            0.1285441517829895,
            179.92430114746094
        ],
        "velocity": [
            -3.9433164596557617,
            -0.007974092848598957,
            0.016570234671235085
        ],
        "speed": 3.9433245221701965,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.839977264404297,
                "transform": {
                    "location": {
                        "x": -161.2285919189453,
                        "y": 4298.6015625,
                        "z": 373.0365295410156
                    },
                    "rotation": {
                        "roll": -0.0028381342999637127,
                        "pitch": -0.17977739870548248,
                        "yaw": 0.23359902203083038
                    }
                },
                "velocity": {
                    "x": 4.839858531951904,
                    "y": 0.029995884746313095,
                    "z": -0.015794258564710617
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088300704956055,
                "transform": {
                    "location": {
                        "x": -109.01828002929688,
                        "y": 4301.61181640625,
                        "z": 372.83819580078125
                    },
                    "rotation": {
                        "roll": 0.00047069002175703645,
                        "pitch": -0.22902989387512207,
                        "yaw": -0.3341064155101776
                    }
                },
                "velocity": {
                    "x": 8.088086128234863,
                    "y": -0.048365287482738495,
                    "z": -0.033624108880758286
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033255577087402,
                "transform": {
                    "location": {
                        "x": -109.32726287841797,
                        "y": 4298.3623046875,
                        "z": 372.8402404785156
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -0.23074427247047424,
                        "yaw": -0.3395079970359802
                    }
                },
                "velocity": {
                    "x": 8.033055305480957,
                    "y": -0.04572519287467003,
                    "z": -0.03354085981845856
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0886387825012207,
                "transform": {
                    "location": {
                        "x": -168.36788940429688,
                        "y": 4301.85595703125,
                        "z": 373.0721130371094
                    },
                    "rotation": {
                        "roll": -0.028320306912064552,
                        "pitch": -0.2900712788105011,
                        "yaw": -1.817199468612671
                    }
                },
                "velocity": {
                    "x": 2.088460683822632,
                    "y": -0.02086970955133438,
                    "z": -0.017571602016687393
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.078015327453613,
                "transform": {
                    "location": {
                        "x": -66.90812683105469,
                        "y": 4298.11376953125,
                        "z": 372.6607360839844
                    },
                    "rotation": {
                        "roll": 2.9605726012960076e-05,
                        "pitch": -0.23571664094924927,
                        "yaw": -0.345977783203125
                    }
                },
                "velocity": {
                    "x": 8.077802658081055,
                    "y": -0.048823967576026917,
                    "z": -0.03251253440976143
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029557228088379,
                "transform": {
                    "location": {
                        "x": -67.3785171508789,
                        "y": 4301.36572265625,
                        "z": 372.7078857421875
                    },
                    "rotation": {
                        "roll": -0.00021362297411542386,
                        "pitch": -0.23684363067150116,
                        "yaw": -0.3486328125
                    }
                },
                "velocity": {
                    "x": 8.029351234436035,
                    "y": -0.047090061008930206,
                    "z": -0.03294294327497482
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.542634010314941,
                "transform": {
                    "location": {
                        "x": -78.72171783447266,
                        "y": 4294.73095703125,
                        "z": 372.7096252441406
                    },
                    "rotation": {
                        "roll": -9.155274892691523e-05,
                        "pitch": 0.18784385919570923,
                        "yaw": 179.66322326660156
                    }
                },
                "velocity": {
                    "x": -7.54241943359375,
                    "y": 0.046855323016643524,
                    "z": 0.032228145748376846
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.341309547424316,
                "transform": {
                    "location": {
                        "x": -96.72554779052734,
                        "y": 4294.83837890625,
                        "z": 372.7906188964844
                    },
                    "rotation": {
                        "roll": -0.0019226076547056437,
                        "pitch": -0.04211494326591492,
                        "yaw": 179.65711975097656
                    }
                },
                "velocity": {
                    "x": -7.341119289398193,
                    "y": 0.04391201213002205,
                    "z": 0.02949829027056694
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025299072265625,
                "transform": {
                    "location": {
                        "x": -114.94992065429688,
                        "y": 4294.94384765625,
                        "z": 372.8624572753906
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": 0.23250645399093628,
                        "yaw": 179.66375732421875
                    }
                },
                "velocity": {
                    "x": -8.025083541870117,
                    "y": 0.049040768295526505,
                    "z": 0.032435521483421326
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.142599105834961,
                "transform": {
                    "location": {
                        "x": -59.44476318359375,
                        "y": 4294.61669921875,
                        "z": 372.6334228515625
                    },
                    "rotation": {
                        "roll": 0.0007505459943786263,
                        "pitch": 0.2604282796382904,
                        "yaw": 179.6914825439453
                    }
                },
                "velocity": {
                    "x": -8.142383575439453,
                    "y": 0.049175165593624115,
                    "z": 0.032986488193273544
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6632242202758789,
        "expert_target_speed": 5.074833724681464,
        "target_point": [
            55.74382997620748,
            0.45106973420838836
        ],
        "target_point_next": [
            60.09366810271166,
            0.4309361923831671
        ]
    },
    "280": {
        "acceleration": [
            2.187037467956543,
            -0.025937668979167938,
            -0.019278135150671005
        ],
        "angular_velocity": [
            -0.04137284308671951,
            -0.326727956533432,
            -0.06555711477994919
        ],
        "forward_vector": [
            -0.9999984502792358,
            -0.000789315439760685,
            0.0016002646880224347
        ],
        "right_vector": [
            0.0007896326715126634,
            -0.9999997019767761,
            0.00019760629220400006
        ],
        "location": [
            -106.67163848876953,
            4292.44580078125,
            372.8299255371094
        ],
        "rotation": [
            -0.011322020553052425,
            0.09168845415115356,
            -179.95477294921875
        ],
        "velocity": [
            -3.548668384552002,
            -0.015264506451785564,
            0.014101896435022354
        ],
        "speed": 3.548701214342528,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.357287883758545,
                "transform": {
                    "location": {
                        "x": -159.94163513183594,
                        "y": 4298.607421875,
                        "z": 373.0323791503906
                    },
                    "rotation": {
                        "roll": -0.00033569338847883046,
                        "pitch": -0.18520739674568176,
                        "yaw": 0.23071855306625366
                    }
                },
                "velocity": {
                    "x": 5.3572492599487305,
                    "y": 0.009399556554853916,
                    "z": -0.018050456419587135
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.047493934631348,
                "transform": {
                    "location": {
                        "x": -107.00155639648438,
                        "y": 4301.60009765625,
                        "z": 372.83013916015625
                    },
                    "rotation": {
                        "roll": 0.0003173050645273179,
                        "pitch": -0.22940555214881897,
                        "yaw": -0.3407897353172302
                    }
                },
                "velocity": {
                    "x": 8.04728889465332,
                    "y": -0.04781319573521614,
                    "z": -0.031880076974630356
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.042166709899902,
                "transform": {
                    "location": {
                        "x": -107.31546783447266,
                        "y": 4298.3505859375,
                        "z": 372.8321533203125
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": -0.22595630586147308,
                        "yaw": -0.3169555366039276
                    }
                },
                "velocity": {
                    "x": 8.04196548461914,
                    "y": -0.046441420912742615,
                    "z": -0.03294932469725609
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.530240774154663,
                "transform": {
                    "location": {
                        "x": -167.67320251464844,
                        "y": 4301.85107421875,
                        "z": 373.0665588378906
                    },
                    "rotation": {
                        "roll": -0.00845336727797985,
                        "pitch": -0.10485705733299255,
                        "yaw": -1.190765142440796
                    }
                },
                "velocity": {
                    "x": 3.530057907104492,
                    "y": -0.02102741412818432,
                    "z": -0.029145458713173866
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.019763946533203,
                "transform": {
                    "location": {
                        "x": -64.89624786376953,
                        "y": 4298.10205078125,
                        "z": 372.6524658203125
                    },
                    "rotation": {
                        "roll": 0.00040936979348771274,
                        "pitch": -0.23724660277366638,
                        "yaw": -0.3502807319164276
                    }
                },
                "velocity": {
                    "x": 8.019543647766113,
                    "y": -0.048971813172101974,
                    "z": -0.03367847949266434
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029006958007812,
                "transform": {
                    "location": {
                        "x": -65.3707046508789,
                        "y": 4301.353515625,
                        "z": 372.6995544433594
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": -0.237034872174263,
                        "yaw": -0.322845458984375
                    }
                },
                "velocity": {
                    "x": 8.028800010681152,
                    "y": -0.04703942686319351,
                    "z": -0.03320346772670746
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.754519939422607,
                "transform": {
                    "location": {
                        "x": -80.48117065429688,
                        "y": 4294.74169921875,
                        "z": 372.7169494628906
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": 0.18711301684379578,
                        "yaw": 179.65318298339844
                    }
                },
                "velocity": {
                    "x": -6.754335880279541,
                    "y": 0.04107782617211342,
                    "z": 0.02840091660618782
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.7926130294799805,
                "transform": {
                    "location": {
                        "x": -98.59546661376953,
                        "y": 4294.85009765625,
                        "z": 372.7972106933594
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": 0.211114302277565,
                        "yaw": 179.66018676757812
                    }
                },
                "velocity": {
                    "x": -7.792415618896484,
                    "y": 0.046103425323963165,
                    "z": 0.030795849859714508
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026864051818848,
                "transform": {
                    "location": {
                        "x": -116.95578002929688,
                        "y": 4294.95556640625,
                        "z": 372.8703918457031
                    },
                    "rotation": {
                        "roll": 0.0002908910973928869,
                        "pitch": 0.23317581415176392,
                        "yaw": 179.63377380371094
                    }
                },
                "velocity": {
                    "x": -8.026646614074707,
                    "y": 0.04942461475729942,
                    "z": 0.03250015154480934
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.380810737609863,
                "transform": {
                    "location": {
                        "x": -61.678436279296875,
                        "y": 4294.63037109375,
                        "z": 372.642578125
                    },
                    "rotation": {
                        "roll": -3.0517556297127157e-05,
                        "pitch": 0.2791498303413391,
                        "yaw": 179.70855712890625
                    }
                },
                "velocity": {
                    "x": -9.380573272705078,
                    "y": 0.05484025925397873,
                    "z": 0.03794027119874954
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6666498780250549,
        "expert_target_speed": 4.6956934062066065,
        "target_point": [
            54.80402796006102,
            0.331750006311805
        ],
        "target_point_next": [
            59.153813921740195,
            0.3024383384202427
        ]
    },
    "285": {
        "acceleration": [
            3.6136293411254883,
            0.005345083773136139,
            -0.017422661185264587
        ],
        "angular_velocity": [
            0.05158095061779022,
            -0.5343502759933472,
            1.0899169445037842
        ],
        "forward_vector": [
            -0.9999967813491821,
            -0.002498774789273739,
            -0.0004345178313087672
        ],
        "right_vector": [
            0.002498750342056155,
            -0.9999969005584717,
            5.699164466932416e-05
        ],
        "location": [
            -107.46421813964844,
            4292.4423828125,
            372.8334045410156
        ],
        "rotation": [
            -0.0032653810922056437,
            -0.024896038696169853,
            -179.85682678222656
        ],
        "velocity": [
            -2.7767906188964844,
            -0.014403553679585457,
            0.012082653120160103
        ],
        "speed": 2.7768279751454035,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.142681121826172,
                "transform": {
                    "location": {
                        "x": -158.48773193359375,
                        "y": 4298.60986328125,
                        "z": 373.0272216796875
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.1798388659954071,
                        "yaw": 0.1096382811665535
                    }
                },
                "velocity": {
                    "x": 6.142642498016357,
                    "y": 0.0025508077815175056,
                    "z": -0.02156846970319748
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084250450134277,
                "transform": {
                    "location": {
                        "x": -104.98531341552734,
                        "y": 4301.58837890625,
                        "z": 372.8220520019531
                    },
                    "rotation": {
                        "roll": 0.0012921812012791634,
                        "pitch": -0.2288796305656433,
                        "yaw": -0.343902587890625
                    }
                },
                "velocity": {
                    "x": 8.084040641784668,
                    "y": -0.047590043395757675,
                    "z": -0.033540330827236176
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.016531944274902,
                "transform": {
                    "location": {
                        "x": -105.3094482421875,
                        "y": 4298.3388671875,
                        "z": 372.82421875
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.23767007887363434,
                        "yaw": -0.3422851264476776
                    }
                },
                "velocity": {
                    "x": 8.016325950622559,
                    "y": -0.04702117294073105,
                    "z": -0.03288843482732773
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.987514972686768,
                "transform": {
                    "location": {
                        "x": -166.59500122070312,
                        "y": 4301.84716796875,
                        "z": 373.0589904785156
                    },
                    "rotation": {
                        "roll": -0.014984131790697575,
                        "pitch": 0.055584076792001724,
                        "yaw": -0.5739441514015198
                    }
                },
                "velocity": {
                    "x": 4.987455368041992,
                    "y": -0.010977261699736118,
                    "z": -0.0216936394572258
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.079116821289062,
                "transform": {
                    "location": {
                        "x": -62.88390350341797,
                        "y": 4298.09033203125,
                        "z": 372.6441650390625
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": -0.23590105772018433,
                        "yaw": -0.3499450385570526
                    }
                },
                "velocity": {
                    "x": 8.078898429870605,
                    "y": -0.049379538744688034,
                    "z": -0.0329681821167469
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030278205871582,
                "transform": {
                    "location": {
                        "x": -63.36288833618164,
                        "y": 4301.34228515625,
                        "z": 372.6913146972656
                    },
                    "rotation": {
                        "roll": -0.0007324217003770173,
                        "pitch": -0.23693925142288208,
                        "yaw": -0.3529053032398224
                    }
                },
                "velocity": {
                    "x": 8.030068397521973,
                    "y": -0.04775642231106758,
                    "z": -0.033024854958057404
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.4279656410217285,
                "transform": {
                    "location": {
                        "x": -82.23358917236328,
                        "y": 4294.751953125,
                        "z": 372.72369384765625
                    },
                    "rotation": {
                        "roll": 0.0005318343755789101,
                        "pitch": 0.25458163022994995,
                        "yaw": 179.6525421142578
                    }
                },
                "velocity": {
                    "x": -7.427768230438232,
                    "y": 0.045152466744184494,
                    "z": 0.02985158935189247
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.457563400268555,
                "transform": {
                    "location": {
                        "x": -100.64554595947266,
                        "y": 4294.86181640625,
                        "z": 372.8047180175781
                    },
                    "rotation": {
                        "roll": -0.0009765622089616954,
                        "pitch": 0.40499603748321533,
                        "yaw": 179.66470336914062
                    }
                },
                "velocity": {
                    "x": -8.457350730895996,
                    "y": 0.04945552349090576,
                    "z": 0.033886659890413284
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02567195892334,
                "transform": {
                    "location": {
                        "x": -118.96163940429688,
                        "y": 4294.96728515625,
                        "z": 372.8783264160156
                    },
                    "rotation": {
                        "roll": 0.0004682740836869925,
                        "pitch": 0.23280015587806702,
                        "yaw": 179.65731811523438
                    }
                },
                "velocity": {
                    "x": -8.025450706481934,
                    "y": 0.049952369183301926,
                    "z": 0.032398443669080734
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.703030586242676,
                "transform": {
                    "location": {
                        "x": -63.95991897583008,
                        "y": 4294.6435546875,
                        "z": 372.6523742675781
                    },
                    "rotation": {
                        "roll": 0.0005941791459918022,
                        "pitch": 0.22573773562908173,
                        "yaw": 179.6644744873047
                    }
                },
                "velocity": {
                    "x": -8.702804565429688,
                    "y": 0.05091394856572151,
                    "z": 0.036627672612667084
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6503171324729919,
        "expert_target_speed": 3.944536216859327,
        "target_point": [
            54.011929393628456,
            0.23660086224354246
        ],
        "target_point_next": [
            58.36165887505362,
            0.1998513763063112
        ]
    },
    "290": {
        "acceleration": [
            3.260047435760498,
            0.08724447339773178,
            -0.008329767733812332
        ],
        "angular_velocity": [
            0.06379348039627075,
            -0.12488273531198502,
            -1.2941107749938965
        ],
        "forward_vector": [
            -0.999994695186615,
            -0.0025683878920972347,
            -0.002022503176704049
        ],
        "right_vector": [
            0.0025688146706670523,
            -0.9999967217445374,
            -0.00020849460270255804
        ],
        "location": [
            -108.03960418701172,
            4292.4404296875,
            372.83599853515625
        ],
        "rotation": [
            0.011945884674787521,
            -0.11588098108768463,
            -179.85284423828125
        ],
        "velocity": [
            -1.894044041633606,
            0.00022894905123393983,
            0.008781109005212784
        ],
        "speed": 1.8940440554711058,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.229680061340332,
                "transform": {
                    "location": {
                        "x": -156.82797241210938,
                        "y": 4298.6103515625,
                        "z": 373.0213623046875
                    },
                    "rotation": {
                        "roll": 0.0008324127993546426,
                        "pitch": -0.18044675886631012,
                        "yaw": 0.030000176280736923
                    }
                },
                "velocity": {
                    "x": 7.229632377624512,
                    "y": -0.0010720663703978062,
                    "z": -0.026302117854356766
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051301956176758,
                "transform": {
                    "location": {
                        "x": -102.96804809570312,
                        "y": 4301.57666015625,
                        "z": 372.8140563964844
                    },
                    "rotation": {
                        "roll": 9.178202162729576e-05,
                        "pitch": -0.22937139868736267,
                        "yaw": -0.3418883979320526
                    }
                },
                "velocity": {
                    "x": 8.051092147827148,
                    "y": -0.04804300144314766,
                    "z": -0.0325455404818058
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.036208152770996,
                "transform": {
                    "location": {
                        "x": -103.30304718017578,
                        "y": 4298.3271484375,
                        "z": 372.816162109375
                    },
                    "rotation": {
                        "roll": -0.00042724618106149137,
                        "pitch": -0.22872936725616455,
                        "yaw": -0.3121642768383026
                    }
                },
                "velocity": {
                    "x": 8.0360107421875,
                    "y": -0.045743413269519806,
                    "z": -0.0328996367752552
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.819357872009277,
                "transform": {
                    "location": {
                        "x": -165.22781372070312,
                        "y": 4301.84716796875,
                        "z": 373.0548400878906
                    },
                    "rotation": {
                        "roll": -0.012542723678052425,
                        "pitch": -0.027218302711844444,
                        "yaw": -0.1458129733800888
                    }
                },
                "velocity": {
                    "x": 5.819326877593994,
                    "y": 0.0061187357641756535,
                    "z": -0.017903698608279228
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022699356079102,
                "transform": {
                    "location": {
                        "x": -60.871482849121094,
                        "y": 4298.07861328125,
                        "z": 372.63580322265625
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": -0.23818917572498322,
                        "yaw": -0.3505249321460724
                    }
                },
                "velocity": {
                    "x": 8.022479057312012,
                    "y": -0.04909602180123329,
                    "z": -0.0334743931889534
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028884887695312,
                "transform": {
                    "location": {
                        "x": -61.35507583618164,
                        "y": 4301.33056640625,
                        "z": 372.68304443359375
                    },
                    "rotation": {
                        "roll": 3.095836655120365e-05,
                        "pitch": -0.2377861887216568,
                        "yaw": -0.325042724609375
                    }
                },
                "velocity": {
                    "x": 8.028679847717285,
                    "y": -0.04690257087349892,
                    "z": -0.033043935894966125
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.561294555664062,
                "transform": {
                    "location": {
                        "x": -84.23468780517578,
                        "y": 4294.76416015625,
                        "z": 372.7315673828125
                    },
                    "rotation": {
                        "roll": 0.0004758358409162611,
                        "pitch": 0.3017440736293793,
                        "yaw": 179.6548309326172
                    }
                },
                "velocity": {
                    "x": -8.56106948852539,
                    "y": 0.05212300270795822,
                    "z": 0.033790625631809235
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.052374839782715,
                "transform": {
                    "location": {
                        "x": -102.91921997070312,
                        "y": 4294.87548828125,
                        "z": 372.8135070800781
                    },
                    "rotation": {
                        "roll": 0.0008393416064791381,
                        "pitch": 0.49012067914009094,
                        "yaw": 179.66334533691406
                    }
                },
                "velocity": {
                    "x": -9.052136421203613,
                    "y": 0.054312847554683685,
                    "z": 0.036935243755578995
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02579402923584,
                "transform": {
                    "location": {
                        "x": -120.96749877929688,
                        "y": 4294.9794921875,
                        "z": 372.88623046875
                    },
                    "rotation": {
                        "roll": 0.0003160556952934712,
                        "pitch": 0.2322947233915329,
                        "yaw": 179.6259002685547
                    }
                },
                "velocity": {
                    "x": -8.0255708694458,
                    "y": 0.05037306621670723,
                    "z": 0.03222410008311272
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.25480842590332,
                "transform": {
                    "location": {
                        "x": -65.98843383789062,
                        "y": 4294.65625,
                        "z": 372.6611328125
                    },
                    "rotation": {
                        "roll": 0.0005515000084415078,
                        "pitch": 0.19535022974014282,
                        "yaw": 179.73451232910156
                    }
                },
                "velocity": {
                    "x": -7.254621982574463,
                    "y": 0.0426093228161335,
                    "z": 0.029827870428562164
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6401645541191101,
        "expert_target_speed": 3.073867081418628,
        "target_point": [
            53.436556457558964,
            0.23239102089694194
        ],
        "target_point_next": [
            57.786283387676654,
            0.1953407887142844
        ]
    },
    "295": {
        "acceleration": [
            0.04038914665579796,
            -0.0011433532927185297,
            -0.0027329870499670506
        ],
        "angular_velocity": [
            -0.059158019721508026,
            1.862203598022461,
            -0.0006185488891787827
        ],
        "forward_vector": [
            -0.9999637007713318,
            -0.0041578058153390884,
            -0.007436444517225027
        ],
        "right_vector": [
            0.004158221650868654,
            -0.9999913573265076,
            -4.043916123919189e-05
        ],
        "location": [
            -108.13343811035156,
            4292.44091796875,
            372.8376159667969
        ],
        "rotation": [
            0.0023170572239905596,
            -0.4260808229446411,
            -179.7617645263672
        ],
        "velocity": [
            0.0058281817473471165,
            0.0005684557254426181,
            0.00029714463744312525
        ],
        "speed": 0.005855838487518126,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.061003684997559,
                "transform": {
                    "location": {
                        "x": -154.9089813232422,
                        "y": 4298.60986328125,
                        "z": 373.0145263671875
                    },
                    "rotation": {
                        "roll": 0.0007543477695435286,
                        "pitch": -0.18404626846313477,
                        "yaw": -0.037872314453125
                    }
                },
                "velocity": {
                    "x": 8.060933113098145,
                    "y": -0.014926044270396233,
                    "z": -0.03009258210659027
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084068298339844,
                "transform": {
                    "location": {
                        "x": -100.9507827758789,
                        "y": 4301.56494140625,
                        "z": 372.8058776855469
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": -0.23088769614696503,
                        "yaw": -0.3416747748851776
                    }
                },
                "velocity": {
                    "x": 8.083852767944336,
                    "y": -0.048247840255498886,
                    "z": -0.03398376703262329
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029592514038086,
                "transform": {
                    "location": {
                        "x": -101.29405975341797,
                        "y": 4298.3154296875,
                        "z": 372.8080749511719
                    },
                    "rotation": {
                        "roll": 0.0009736416395753622,
                        "pitch": -0.23218543827533722,
                        "yaw": -0.3480835258960724
                    }
                },
                "velocity": {
                    "x": 8.029387474060059,
                    "y": -0.0468747615814209,
                    "z": -0.03311314061284065
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.097518444061279,
                "transform": {
                    "location": {
                        "x": -163.68319702148438,
                        "y": 4301.85107421875,
                        "z": 373.0498046875
                    },
                    "rotation": {
                        "roll": -0.010253907181322575,
                        "pitch": 0.006837018765509129,
                        "yaw": 0.10736708343029022
                    }
                },
                "velocity": {
                    "x": 7.097442626953125,
                    "y": 0.022556519135832787,
                    "z": -0.023884568363428116
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075572967529297,
                "transform": {
                    "location": {
                        "x": -58.85953140258789,
                        "y": 4298.06689453125,
                        "z": 372.6275329589844
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -0.23724660277366638,
                        "yaw": -0.3462218642234802
                    }
                },
                "velocity": {
                    "x": 8.075357437133789,
                    "y": -0.04886287450790405,
                    "z": -0.03305184841156006
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029827117919922,
                "transform": {
                    "location": {
                        "x": -59.34812545776367,
                        "y": 4301.31884765625,
                        "z": 372.6747131347656
                    },
                    "rotation": {
                        "roll": 0.0014682274777442217,
                        "pitch": -0.2375471293926239,
                        "yaw": -0.3579101264476776
                    }
                },
                "velocity": {
                    "x": 8.029600143432617,
                    "y": -0.05000525712966919,
                    "z": -0.033874426037073135
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.755782127380371,
                "transform": {
                    "location": {
                        "x": -86.5374984741211,
                        "y": 4294.77783203125,
                        "z": 372.7408142089844
                    },
                    "rotation": {
                        "roll": 0.00027179287280887365,
                        "pitch": 0.3136012852191925,
                        "yaw": 179.65196228027344
                    }
                },
                "velocity": {
                    "x": -9.755518913269043,
                    "y": 0.05927443876862526,
                    "z": 0.04008404538035393
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.13575267791748,
                "transform": {
                    "location": {
                        "x": -105.04843139648438,
                        "y": 4294.88818359375,
                        "z": 372.8236389160156
                    },
                    "rotation": {
                        "roll": 2.5676501536509022e-05,
                        "pitch": 0.06910785287618637,
                        "yaw": 179.66012573242188
                    }
                },
                "velocity": {
                    "x": -8.135544776916504,
                    "y": 0.04815322905778885,
                    "z": 0.032600898295640945
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026467323303223,
                "transform": {
                    "location": {
                        "x": -122.97335815429688,
                        "y": 4294.9912109375,
                        "z": 372.8941345214844
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": 0.2310994416475296,
                        "yaw": 179.6584930419922
                    }
                },
                "velocity": {
                    "x": -8.026247024536133,
                    "y": 0.04972534254193306,
                    "z": 0.032507628202438354
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.6064629554748535,
                "transform": {
                    "location": {
                        "x": -67.67703247070312,
                        "y": 4294.6669921875,
                        "z": 372.6678771972656
                    },
                    "rotation": {
                        "roll": 0.0015703083481639624,
                        "pitch": 0.20677714049816132,
                        "yaw": 179.8756103515625
                    }
                },
                "velocity": {
                    "x": -6.606293201446533,
                    "y": 0.03741029277443886,
                    "z": 0.029088983312249184
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6350584626197815,
        "expert_target_speed": 1.1924544344050432,
        "target_point": [
            53.34302729760209,
            0.14831709725769232
        ],
        "target_point_next": [
            57.6926898294928,
            0.10435182730596107
        ]
    },
    "300": {
        "acceleration": [
            0.9350711107254028,
            -0.015237844549119473,
            0.006792640779167414
        ],
        "angular_velocity": [
            0.016426293179392815,
            0.9228325486183167,
            0.580890417098999
        ],
        "forward_vector": [
            -0.9999908804893494,
            -0.0042647309601306915,
            -1.7046926586772315e-05
        ],
        "right_vector": [
            0.0042647323571145535,
            -0.9999908804893494,
            -9.086992213269696e-05
        ],
        "location": [
            -108.14421844482422,
            4292.44091796875,
            372.83599853515625
        ],
        "rotation": [
            0.005206462927162647,
            -0.0009767169831320643,
            -179.75564575195312
        ],
        "velocity": [
            -0.02284521795809269,
            0.00041308364598080516,
            0.001669654855504632
        ],
        "speed": 0.02284895230970859,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.886490821838379,
                "transform": {
                    "location": {
                        "x": -152.7860870361328,
                        "y": 4298.60498046875,
                        "z": 373.0068664550781
                    },
                    "rotation": {
                        "roll": 0.0008496348164044321,
                        "pitch": -0.18646416068077087,
                        "yaw": -0.153472900390625
                    }
                },
                "velocity": {
                    "x": 8.886391639709473,
                    "y": -0.028586817905306816,
                    "z": -0.03059580735862255
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.050004959106445,
                "transform": {
                    "location": {
                        "x": -98.93421936035156,
                        "y": 4301.55322265625,
                        "z": 372.7977600097656
                    },
                    "rotation": {
                        "roll": 1.0422127050269125e-10,
                        "pitch": -0.23190540075302124,
                        "yaw": -0.3438415825366974
                    }
                },
                "velocity": {
                    "x": 8.04979133605957,
                    "y": -0.04856991022825241,
                    "z": -0.03297152742743492
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026208877563477,
                "transform": {
                    "location": {
                        "x": -99.2879638671875,
                        "y": 4298.3037109375,
                        "z": 372.7999572753906
                    },
                    "rotation": {
                        "roll": 0.0008986028842628002,
                        "pitch": -0.23596252501010895,
                        "yaw": -0.3244323432445526
                    }
                },
                "velocity": {
                    "x": 8.026002883911133,
                    "y": -0.04737982526421547,
                    "z": -0.032629068940877914
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.276162147521973,
                "transform": {
                    "location": {
                        "x": -161.7101593017578,
                        "y": 4301.85888671875,
                        "z": 373.04302978515625
                    },
                    "rotation": {
                        "roll": -0.007080077659338713,
                        "pitch": -0.0033263019286096096,
                        "yaw": 0.23009686172008514
                    }
                },
                "velocity": {
                    "x": 8.276036262512207,
                    "y": 0.035579025745391846,
                    "z": -0.028609056025743484
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023704528808594,
                "transform": {
                    "location": {
                        "x": -56.84710693359375,
                        "y": 4298.05517578125,
                        "z": 372.6191711425781
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.23736955225467682,
                        "yaw": -0.345977783203125
                    }
                },
                "velocity": {
                    "x": 8.023490905761719,
                    "y": -0.0484466589987278,
                    "z": -0.03276386111974716
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030991554260254,
                "transform": {
                    "location": {
                        "x": -57.34031295776367,
                        "y": 4301.30712890625,
                        "z": 372.66644287109375
                    },
                    "rotation": {
                        "roll": 0.000987143605016172,
                        "pitch": -0.23724660277366638,
                        "yaw": -0.3338317573070526
                    }
                },
                "velocity": {
                    "x": 8.030776977539062,
                    "y": -0.048540521413087845,
                    "z": -0.032998617738485336
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.790911674499512,
                "transform": {
                    "location": {
                        "x": -88.8921890258789,
                        "y": 4294.79248046875,
                        "z": 372.7512512207031
                    },
                    "rotation": {
                        "roll": -6.1035112594254315e-05,
                        "pitch": 0.21000099182128906,
                        "yaw": 179.65548706054688
                    }
                },
                "velocity": {
                    "x": -8.790675163269043,
                    "y": 0.05262300744652748,
                    "z": 0.03724785894155502
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.969727516174316,
                "transform": {
                    "location": {
                        "x": -106.88304138183594,
                        "y": 4294.8984375,
                        "z": 372.8317565917969
                    },
                    "rotation": {
                        "roll": -0.0007324218167923391,
                        "pitch": -0.1589658111333847,
                        "yaw": 179.66253662109375
                    }
                },
                "velocity": {
                    "x": -6.969546318054199,
                    "y": 0.041069190949201584,
                    "z": 0.028875989839434624
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025272369384766,
                "transform": {
                    "location": {
                        "x": -124.97921752929688,
                        "y": 4295.00244140625,
                        "z": 372.9019775390625
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": 0.23053252696990967,
                        "yaw": 179.63377380371094
                    }
                },
                "velocity": {
                    "x": -8.025046348571777,
                    "y": 0.050469253212213516,
                    "z": 0.0327901728451252
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.228255748748779,
                "transform": {
                    "location": {
                        "x": -69.39234161376953,
                        "y": 4294.67626953125,
                        "z": 372.6746826171875
                    },
                    "rotation": {
                        "roll": 0.001241210731677711,
                        "pitch": 0.24963657557964325,
                        "yaw": 179.8087158203125
                    }
                },
                "velocity": {
                    "x": -7.228086948394775,
                    "y": 0.039421360939741135,
                    "z": 0.029850006103515625
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6386708617210388,
        "expert_target_speed": 1.2094864912895444,
        "target_point": [
            53.33226259885818,
            0.1426654227117287
        ],
        "target_point_next": [
            57.681920409939444,
            0.09823555893020391
        ]
    },
    "305": {
        "acceleration": [
            -0.15817299485206604,
            0.030906300991773605,
            -0.0023410795256495476
        ],
        "angular_velocity": [
            0.0127867441624403,
            0.3844417929649353,
            -0.04579800367355347
        ],
        "forward_vector": [
            -0.9999880194664001,
            -0.004027014132589102,
            0.0027935465332120657
        ],
        "right_vector": [
            0.00402686046436429,
            -0.9999918937683105,
            -6.07256697549019e-05
        ],
        "location": [
            -108.15874481201172,
            4292.44091796875,
            372.8355407714844
        ],
        "rotation": [
            0.003479338251054287,
            0.1600586473941803,
            -179.76927185058594
        ],
        "velocity": [
            -0.05270423740148544,
            0.0012377941748127341,
            0.001155853271484375
        ],
        "speed": 0.05271877060868679,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.666213035583496,
                "transform": {
                    "location": {
                        "x": -150.4640655517578,
                        "y": 4298.59716796875,
                        "z": 372.99853515625
                    },
                    "rotation": {
                        "roll": 0.0006837215623818338,
                        "pitch": -0.18719498813152313,
                        "yaw": -0.209625244140625
                    }
                },
                "velocity": {
                    "x": 9.666083335876465,
                    "y": -0.03597428277134895,
                    "z": -0.034755539149045944
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08491039276123,
                "transform": {
                    "location": {
                        "x": -96.91703033447266,
                        "y": 4301.54150390625,
                        "z": 372.78961181640625
                    },
                    "rotation": {
                        "roll": 7.109327998477966e-05,
                        "pitch": -0.23177562654018402,
                        "yaw": -0.3482971489429474
                    }
                },
                "velocity": {
                    "x": 8.084688186645508,
                    "y": -0.04921817034482956,
                    "z": -0.03403760865330696
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03291130065918,
                "transform": {
                    "location": {
                        "x": -97.28046417236328,
                        "y": 4298.2919921875,
                        "z": 372.7918701171875
                    },
                    "rotation": {
                        "roll": 0.0005961748538538814,
                        "pitch": -0.2323288768529892,
                        "yaw": -0.3573912978172302
                    }
                },
                "velocity": {
                    "x": 8.032692909240723,
                    "y": -0.049280907958745956,
                    "z": -0.032926030457019806
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.142258644104004,
                "transform": {
                    "location": {
                        "x": -159.65538024902344,
                        "y": 4301.86669921875,
                        "z": 373.03570556640625
                    },
                    "rotation": {
                        "roll": 0.006334682460874319,
                        "pitch": -0.16802947223186493,
                        "yaw": 0.18333148956298828
                    }
                },
                "velocity": {
                    "x": 8.142191886901855,
                    "y": 0.015067134983837605,
                    "z": -0.029226083308458328
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076805114746094,
                "transform": {
                    "location": {
                        "x": -54.83414077758789,
                        "y": 4298.04345703125,
                        "z": 372.61083984375
                    },
                    "rotation": {
                        "roll": -0.0007934569148346782,
                        "pitch": -0.2370007187128067,
                        "yaw": -0.347869873046875
                    }
                },
                "velocity": {
                    "x": 8.076577186584473,
                    "y": -0.050669554620981216,
                    "z": -0.03326371684670448
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028800010681152,
                "transform": {
                    "location": {
                        "x": -55.33250045776367,
                        "y": 4301.29541015625,
                        "z": 372.6581115722656
                    },
                    "rotation": {
                        "roll": 0.00048393840552307665,
                        "pitch": -0.23806622624397278,
                        "yaw": -0.3632812201976776
                    }
                },
                "velocity": {
                    "x": 8.028582572937012,
                    "y": -0.04891076311469078,
                    "z": -0.033129025250673294
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.285422325134277,
                "transform": {
                    "location": {
                        "x": -90.88898468017578,
                        "y": 4294.8046875,
                        "z": 372.7598876953125
                    },
                    "rotation": {
                        "roll": -3.051758176297881e-05,
                        "pitch": 0.14802385866641998,
                        "yaw": 179.65655517578125
                    }
                },
                "velocity": {
                    "x": -7.285233020782471,
                    "y": 0.0436507873237133,
                    "z": 0.029292477294802666
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.423620223999023,
                "transform": {
                    "location": {
                        "x": -108.66124725341797,
                        "y": 4294.90869140625,
                        "z": 372.8377380371094
                    },
                    "rotation": {
                        "roll": 0.00010165892308577895,
                        "pitch": 0.18156690895557404,
                        "yaw": 179.65927124023438
                    }
                },
                "velocity": {
                    "x": -7.423429489135742,
                    "y": 0.04424348101019859,
                    "z": 0.029536370187997818
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026227951049805,
                "transform": {
                    "location": {
                        "x": -126.98507690429688,
                        "y": 4295.01416015625,
                        "z": 372.9098815917969
                    },
                    "rotation": {
                        "roll": -0.0013427730882540345,
                        "pitch": 0.23101747035980225,
                        "yaw": 179.66030883789062
                    }
                },
                "velocity": {
                    "x": -8.026009559631348,
                    "y": 0.04955325648188591,
                    "z": 0.03241552412509918
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.950843334197998,
                "transform": {
                    "location": {
                        "x": -71.2953872680664,
                        "y": 4294.68603515625,
                        "z": 372.682373046875
                    },
                    "rotation": {
                        "roll": 0.0009331092005595565,
                        "pitch": 0.25679460167884827,
                        "yaw": 179.7120819091797
                    }
                },
                "velocity": {
                    "x": -7.950643539428711,
                    "y": 0.046643707901239395,
                    "z": 0.03162052109837532
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6427722573280334,
        "expert_target_speed": 1.2392820532772946,
        "target_point": [
            53.31770089365403,
            0.15541388611294968
        ],
        "target_point_next": [
            57.66736915332367,
            0.11201898873581179
        ]
    },
    "310": {
        "acceleration": [
            0.21912887692451477,
            -0.06329280883073807,
            -0.0031002028845250607
        ],
        "angular_velocity": [
            -0.09823200106620789,
            0.05389505997300148,
            0.008400104939937592
        ],
        "forward_vector": [
            -0.9999859929084778,
            -0.0038605895824730396,
            0.0036183514166623354
        ],
        "right_vector": [
            0.0038604221772402525,
            -0.9999925494194031,
            -5.330824569682591e-05
        ],
        "location": [
            -108.169921875,
            4292.44091796875,
            372.83538818359375
        ],
        "rotation": [
            0.003054357599467039,
            0.20731672644615173,
            -179.77880859375
        ],
        "velocity": [
            -0.03393704444169998,
            -0.0004823341441806406,
            0.0015860748244449496
        ],
        "speed": 0.03394047188335133,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.543065071105957,
                "transform": {
                    "location": {
                        "x": -147.93421936035156,
                        "y": 4298.5869140625,
                        "z": 372.9892578125
                    },
                    "rotation": {
                        "roll": 0.0012353630736470222,
                        "pitch": -0.19420959055423737,
                        "yaw": -0.2654114067554474
                    }
                },
                "velocity": {
                    "x": 10.542872428894043,
                    "y": -0.05094484984874725,
                    "z": -0.03815634176135063
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.050374031066895,
                "transform": {
                    "location": {
                        "x": -94.90023040771484,
                        "y": 4301.52978515625,
                        "z": 372.78143310546875
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": -0.23241765797138214,
                        "yaw": -0.3490905463695526
                    }
                },
                "velocity": {
                    "x": 8.05015754699707,
                    "y": -0.049059685319662094,
                    "z": -0.03275149315595627
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028111457824707,
                "transform": {
                    "location": {
                        "x": -95.27265167236328,
                        "y": 4298.2802734375,
                        "z": 372.78375244140625
                    },
                    "rotation": {
                        "roll": 0.0007497776532545686,
                        "pitch": -0.23486287891864777,
                        "yaw": -0.3318481147289276
                    }
                },
                "velocity": {
                    "x": 8.027898788452148,
                    "y": -0.04842520132660866,
                    "z": -0.03272446617484093
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.851161003112793,
                "transform": {
                    "location": {
                        "x": -157.54702758789062,
                        "y": 4301.8671875,
                        "z": 373.0283203125
                    },
                    "rotation": {
                        "roll": 0.0075051733292639256,
                        "pitch": -0.11017094552516937,
                        "yaw": 0.005937131121754646
                    }
                },
                "velocity": {
                    "x": 8.851110458374023,
                    "y": -0.003087380202487111,
                    "z": -0.029938530176877975
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02234172821045,
                "transform": {
                    "location": {
                        "x": -52.82195281982422,
                        "y": 4298.03125,
                        "z": 372.6025695800781
                    },
                    "rotation": {
                        "roll": 0.00029315942083485425,
                        "pitch": -0.2384282350540161,
                        "yaw": -0.3558654487133026
                    }
                },
                "velocity": {
                    "x": 8.022111892700195,
                    "y": -0.05119141563773155,
                    "z": -0.032783906906843185
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031637191772461,
                "transform": {
                    "location": {
                        "x": -53.32468795776367,
                        "y": 4301.28369140625,
                        "z": 372.6498107910156
                    },
                    "rotation": {
                        "roll": 0.0001559690135763958,
                        "pitch": -0.23718513548374176,
                        "yaw": -0.3349303603172302
                    }
                },
                "velocity": {
                    "x": 8.031431198120117,
                    "y": -0.04735530912876129,
                    "z": -0.032750204205513
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.793051719665527,
                "transform": {
                    "location": {
                        "x": -92.61296844482422,
                        "y": 4294.814453125,
                        "z": 372.7665100097656
                    },
                    "rotation": {
                        "roll": -6.103518535383046e-05,
                        "pitch": 0.1878575086593628,
                        "yaw": 179.6600799560547
                    }
                },
                "velocity": {
                    "x": -6.79287052154541,
                    "y": 0.040297940373420715,
                    "z": 0.028887251392006874
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.408973693847656,
                "transform": {
                    "location": {
                        "x": -110.66437530517578,
                        "y": 4294.92041015625,
                        "z": 372.8443908691406
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": 0.5126466751098633,
                        "yaw": 179.66331481933594
                    }
                },
                "velocity": {
                    "x": -8.408764839172363,
                    "y": 0.04940230771899223,
                    "z": 0.032845113426446915
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026650428771973,
                "transform": {
                    "location": {
                        "x": -128.99093627929688,
                        "y": 4295.02685546875,
                        "z": 372.917724609375
                    },
                    "rotation": {
                        "roll": 0.0007237790268845856,
                        "pitch": 0.23107211291790009,
                        "yaw": 179.6248321533203
                    }
                },
                "velocity": {
                    "x": -8.026418685913086,
                    "y": 0.05185374617576599,
                    "z": 0.03224455937743187
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.189372062683105,
                "transform": {
                    "location": {
                        "x": -73.50390625,
                        "y": 4294.69921875,
                        "z": 372.6913146972656
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": 0.27586448192596436,
                        "yaw": 179.70016479492188
                    }
                },
                "velocity": {
                    "x": -9.18913459777832,
                    "y": 0.05426155775785446,
                    "z": 0.03775535523891449
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6447919607162476,
        "expert_target_speed": 1.220544583998994,
        "target_point": [
            53.30649731227089,
            0.16432996018366167
        ],
        "target_point_next": [
            57.656172733322435,
            0.12165891852885063
        ]
    },
    "315": {
        "acceleration": [
            -0.1525384932756424,
            0.0770595371723175,
            -0.0003753672353923321
        ],
        "angular_velocity": [
            0.01724289171397686,
            0.05520658940076828,
            -0.11896486580371857
        ],
        "forward_vector": [
            -0.9999858736991882,
            -0.003597852075472474,
            0.0038993258494883776
        ],
        "right_vector": [
            0.0035976292565464973,
            -0.9999935030937195,
            -6.418036355171353e-05
        ],
        "location": [
            -108.17906188964844,
            4292.44091796875,
            372.83538818359375
        ],
        "rotation": [
            0.003677292028442025,
            0.22341547906398773,
            -179.79385375976562
        ],
        "velocity": [
            -0.037214215844869614,
            0.003106197575107217,
            0.0015807723393663764
        ],
        "speed": 0.03734362494890053,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.423222541809082,
                "transform": {
                    "location": {
                        "x": -145.185302734375,
                        "y": 4298.5732421875,
                        "z": 372.9789733886719
                    },
                    "rotation": {
                        "roll": 0.0008577166590839624,
                        "pitch": -0.19280940294265747,
                        "yaw": -0.30364990234375
                    }
                },
                "velocity": {
                    "x": 11.422983169555664,
                    "y": -0.06110594794154167,
                    "z": -0.04150746762752533
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083290100097656,
                "transform": {
                    "location": {
                        "x": -92.88343811035156,
                        "y": 4301.51806640625,
                        "z": 372.7732238769531
                    },
                    "rotation": {
                        "roll": -0.0005798341007903218,
                        "pitch": -0.23202835023403168,
                        "yaw": -0.3492431342601776
                    }
                },
                "velocity": {
                    "x": 8.083070755004883,
                    "y": -0.049317412078380585,
                    "z": -0.03339517116546631
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02904224395752,
                "transform": {
                    "location": {
                        "x": -93.26515197753906,
                        "y": 4298.2685546875,
                        "z": 372.77557373046875
                    },
                    "rotation": {
                        "roll": 0.0005116763059049845,
                        "pitch": -0.23486287891864777,
                        "yaw": -0.35845947265625
                    }
                },
                "velocity": {
                    "x": 8.028830528259277,
                    "y": -0.04830273985862732,
                    "z": -0.03266534581780434
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.039484024047852,
                "transform": {
                    "location": {
                        "x": -155.18202209472656,
                        "y": 4301.86474609375,
                        "z": 373.0201416015625
                    },
                    "rotation": {
                        "roll": 0.007863102480769157,
                        "pitch": -0.04086501896381378,
                        "yaw": -0.0760497972369194
                    }
                },
                "velocity": {
                    "x": 10.039399147033691,
                    "y": -0.0204800795763731,
                    "z": -0.03582805395126343
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077428817749023,
                "transform": {
                    "location": {
                        "x": -50.80921936035156,
                        "y": 4298.02001953125,
                        "z": 372.59417724609375
                    },
                    "rotation": {
                        "roll": -0.0018005367601290345,
                        "pitch": -0.23739686608314514,
                        "yaw": -0.3580627739429474
                    }
                },
                "velocity": {
                    "x": 8.077204704284668,
                    "y": -0.05060342699289322,
                    "z": -0.03242122009396553
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02972412109375,
                "transform": {
                    "location": {
                        "x": -51.31687545776367,
                        "y": 4301.27197265625,
                        "z": 372.6414794921875
                    },
                    "rotation": {
                        "roll": 0.00034572742879390717,
                        "pitch": -0.23886536061763763,
                        "yaw": -0.35693359375
                    }
                },
                "velocity": {
                    "x": 8.029507637023926,
                    "y": -0.04842128977179527,
                    "z": -0.033698566257953644
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.744387149810791,
                "transform": {
                    "location": {
                        "x": -94.42062377929688,
                        "y": 4294.82470703125,
                        "z": 372.7733459472656
                    },
                    "rotation": {
                        "roll": -0.0018005372257903218,
                        "pitch": 0.2681736946105957,
                        "yaw": 179.6625518798828
                    }
                },
                "velocity": {
                    "x": -7.744194030761719,
                    "y": 0.04543059319257736,
                    "z": 0.030475396662950516
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.7894182205200195,
                "transform": {
                    "location": {
                        "x": -112.70320129394531,
                        "y": 4294.93212890625,
                        "z": 372.8535461425781
                    },
                    "rotation": {
                        "roll": -0.0007934570894576609,
                        "pitch": 0.20960482954978943,
                        "yaw": 179.66346740722656
                    }
                },
                "velocity": {
                    "x": -7.789215087890625,
                    "y": 0.04576432704925537,
                    "z": 0.0327564999461174
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025588035583496,
                "transform": {
                    "location": {
                        "x": -130.99679565429688,
                        "y": 4295.03955078125,
                        "z": 372.9255676269531
                    },
                    "rotation": {
                        "roll": -0.00021362300321925431,
                        "pitch": 0.23139996826648712,
                        "yaw": 179.65345764160156
                    }
                },
                "velocity": {
                    "x": -8.025362014770508,
                    "y": 0.05048669874668121,
                    "z": 0.03291505575180054
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.709341049194336,
                "transform": {
                    "location": {
                        "x": -75.7250747680664,
                        "y": 4294.71240234375,
                        "z": 372.7008361816406
                    },
                    "rotation": {
                        "roll": -0.0004882811044808477,
                        "pitch": 0.2288523018360138,
                        "yaw": 179.65078735351562
                    }
                },
                "velocity": {
                    "x": -8.70910358428955,
                    "y": 0.05228085070848465,
                    "z": 0.037435464560985565
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6469610333442688,
        "expert_target_speed": 1.2239411862324383,
        "target_point": [
            53.297312426319884,
            0.17834302741207342
        ],
        "target_point_next": [
            57.646998888710826,
            0.13681273498843818
        ]
    },
    "320": {
        "acceleration": [
            0.21186374127864838,
            -0.07266253978013992,
            0.0018423073925077915
        ],
        "angular_velocity": [
            -0.06436754763126373,
            -0.027445072308182716,
            0.033218808472156525
        ],
        "forward_vector": [
            -0.9999861717224121,
            -0.003415940096601844,
            0.003991235047578812
        ],
        "right_vector": [
            0.00341573404148221,
            -0.999994158744812,
            -5.8436478866497055e-05
        ],
        "location": [
            -108.18617248535156,
            4292.4404296875,
            372.8353576660156
        ],
        "rotation": [
            0.00334819033741951,
            0.2286815494298935,
            -179.8042755126953
        ],
        "velocity": [
            -0.022711850702762604,
            -0.0010959634091705084,
            0.0014424704713746905
        ],
        "speed": 0.022738278258012827,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.310477256774902,
                "transform": {
                    "location": {
                        "x": -142.20718383789062,
                        "y": 4298.556640625,
                        "z": 372.9678955078125
                    },
                    "rotation": {
                        "roll": 0.0008829270955175161,
                        "pitch": -0.19253619015216827,
                        "yaw": -0.3292541205883026
                    }
                },
                "velocity": {
                    "x": 12.310186386108398,
                    "y": -0.07117480039596558,
                    "z": -0.04565799981355667
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051204681396484,
                "transform": {
                    "location": {
                        "x": -90.86656188964844,
                        "y": 4301.50634765625,
                        "z": 372.7650451660156
                    },
                    "rotation": {
                        "roll": 8.26875984785147e-05,
                        "pitch": -0.2337905317544937,
                        "yaw": -0.3493347465991974
                    }
                },
                "velocity": {
                    "x": 8.050989151000977,
                    "y": -0.049056604504585266,
                    "z": -0.032585259526968
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031158447265625,
                "transform": {
                    "location": {
                        "x": -91.25733947753906,
                        "y": 4298.2568359375,
                        "z": 372.7674255371094
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": -0.23547758162021637,
                        "yaw": -0.32904052734375
                    }
                },
                "velocity": {
                    "x": 8.030952453613281,
                    "y": -0.046980708837509155,
                    "z": -0.0331239327788353
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.02222728729248,
                "transform": {
                    "location": {
                        "x": -152.52108764648438,
                        "y": 4301.85693359375,
                        "z": 373.0105285644531
                    },
                    "rotation": {
                        "roll": 0.008575529791414738,
                        "pitch": -0.049956001341342926,
                        "yaw": -0.1965636909008026
                    }
                },
                "velocity": {
                    "x": 11.022087097167969,
                    "y": -0.0390065461397171,
                    "z": -0.03975939750671387
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022455215454102,
                "transform": {
                    "location": {
                        "x": -48.79679489135742,
                        "y": 4298.0078125,
                        "z": 372.5858154296875
                    },
                    "rotation": {
                        "roll": -0.0015563962515443563,
                        "pitch": -0.23822332918643951,
                        "yaw": -0.3581847846508026
                    }
                },
                "velocity": {
                    "x": 8.022233009338379,
                    "y": -0.05018541216850281,
                    "z": -0.03230872005224228
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02905559539795,
                "transform": {
                    "location": {
                        "x": -49.30906295776367,
                        "y": 4301.26025390625,
                        "z": 372.63311767578125
                    },
                    "rotation": {
                        "roll": 0.00030010141199454665,
                        "pitch": -0.23913173377513885,
                        "yaw": -0.3354796767234802
                    }
                },
                "velocity": {
                    "x": 8.028836250305176,
                    "y": -0.04885442927479744,
                    "z": -0.033648472279310226
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.850473403930664,
                "transform": {
                    "location": {
                        "x": -96.50617218017578,
                        "y": 4294.8369140625,
                        "z": 372.7815246582031
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": 0.30287790298461914,
                        "yaw": 179.6611328125
                    }
                },
                "velocity": {
                    "x": -8.850238800048828,
                    "y": 0.05385018140077591,
                    "z": 0.03536759316921234
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.526455402374268,
                "transform": {
                    "location": {
                        "x": -114.58710479736328,
                        "y": 4294.94384765625,
                        "z": 372.8615417480469
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": 0.10581328719854355,
                        "yaw": 179.66310119628906
                    }
                },
                "velocity": {
                    "x": -7.5262675285339355,
                    "y": 0.04423360154032707,
                    "z": 0.029549550265073776
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025628089904785,
                "transform": {
                    "location": {
                        "x": -133.00265502929688,
                        "y": 4295.05126953125,
                        "z": 372.9334411621094
                    },
                    "rotation": {
                        "roll": -0.0011291500413790345,
                        "pitch": 0.2293918877840042,
                        "yaw": 179.63136291503906
                    }
                },
                "velocity": {
                    "x": -8.025407791137695,
                    "y": 0.0497976578772068,
                    "z": 0.032502200454473495
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.466036796569824,
                "transform": {
                    "location": {
                        "x": -77.88397979736328,
                        "y": 4294.72607421875,
                        "z": 372.7097473144531
                    },
                    "rotation": {
                        "roll": 0.0022247028537094593,
                        "pitch": 0.2270423024892807,
                        "yaw": 179.6575927734375
                    }
                },
                "velocity": {
                    "x": -8.465805053710938,
                    "y": 0.051121994853019714,
                    "z": 0.036067064851522446
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6470481157302856,
        "expert_target_speed": 1.2093607084704594,
        "target_point": [
            53.29016683441874,
            0.18758723736476648
        ],
        "target_point_next": [
            57.639860789467214,
            0.14684924882007047
        ]
    },
    "325": {
        "acceleration": [
            -0.1681496500968933,
            0.0662061870098114,
            0.0035760877653956413
        ],
        "angular_velocity": [
            0.09942181408405304,
            0.05164860188961029,
            -0.12063675373792648
        ],
        "forward_vector": [
            -0.9999865889549255,
            -0.0032399888150393963,
            0.0040374877862632275
        ],
        "right_vector": [
            0.00323981954716146,
            -0.9999947547912598,
            -4.850035475101322e-05
        ],
        "location": [
            -108.19304656982422,
            4292.4404296875,
            372.83538818359375
        ],
        "rotation": [
            0.0027788884472101927,
            0.23133166134357452,
            -179.81436157226562
        ],
        "velocity": [
            -0.031191987916827202,
            0.0027133210096508265,
            0.001734294812195003
        ],
        "speed": 0.03130977836243666,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.864485740661621,
                "transform": {
                    "location": {
                        "x": -139.08453369140625,
                        "y": 4298.53857421875,
                        "z": 372.9560852050781
                    },
                    "rotation": {
                        "roll": 0.0006912955432198942,
                        "pitch": -0.20523351430892944,
                        "yaw": -0.3369140923023224
                    }
                },
                "velocity": {
                    "x": 12.86417293548584,
                    "y": -0.07514847069978714,
                    "z": -0.0491003692150116
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083950996398926,
                "transform": {
                    "location": {
                        "x": -88.8492202758789,
                        "y": 4301.49462890625,
                        "z": 372.7568359375
                    },
                    "rotation": {
                        "roll": -0.0005493164644576609,
                        "pitch": -0.2346511334180832,
                        "yaw": -0.34918212890625
                    }
                },
                "velocity": {
                    "x": 8.083734512329102,
                    "y": -0.049288954585790634,
                    "z": -0.032852765172719955
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028844833374023,
                "transform": {
                    "location": {
                        "x": -89.24952697753906,
                        "y": 4298.2451171875,
                        "z": 372.7592468261719
                    },
                    "rotation": {
                        "roll": 7.316564733628184e-05,
                        "pitch": -0.23764276504516602,
                        "yaw": -0.354400634765625
                    }
                },
                "velocity": {
                    "x": 8.028637886047363,
                    "y": -0.047831255942583084,
                    "z": -0.032335080206394196
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.197981834411621,
                "transform": {
                    "location": {
                        "x": -149.6374969482422,
                        "y": 4301.845703125,
                        "z": 373.0001525878906
                    },
                    "rotation": {
                        "roll": 0.00591670349240303,
                        "pitch": -0.02078426443040371,
                        "yaw": -0.2375183254480362
                    }
                },
                "velocity": {
                    "x": 12.197784423828125,
                    "y": -0.053614240139722824,
                    "z": -0.04402731731534004
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074377059936523,
                "transform": {
                    "location": {
                        "x": -46.784061431884766,
                        "y": 4297.99560546875,
                        "z": 372.5774841308594
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": -0.23797744512557983,
                        "yaw": -0.3603820502758026
                    }
                },
                "velocity": {
                    "x": 8.074140548706055,
                    "y": -0.05219724401831627,
                    "z": -0.033180322498083115
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03110122680664,
                "transform": {
                    "location": {
                        "x": -47.30125045776367,
                        "y": 4301.24853515625,
                        "z": 372.624755859375
                    },
                    "rotation": {
                        "roll": 0.0005310025298967957,
                        "pitch": -0.23895415663719177,
                        "yaw": -0.3604125678539276
                    }
                },
                "velocity": {
                    "x": 8.030871391296387,
                    "y": -0.05014294013381004,
                    "z": -0.03414522483944893
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.127853393554688,
                "transform": {
                    "location": {
                        "x": -98.65750122070312,
                        "y": 4294.84912109375,
                        "z": 372.7908630371094
                    },
                    "rotation": {
                        "roll": 0.0002103588340105489,
                        "pitch": 0.2128560096025467,
                        "yaw": 179.66354370117188
                    }
                },
                "velocity": {
                    "x": -8.127647399902344,
                    "y": 0.04757250100374222,
                    "z": 0.03296178579330444
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.278602600097656,
                "transform": {
                    "location": {
                        "x": -116.56663513183594,
                        "y": 4294.95556640625,
                        "z": 372.86822509765625
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": 0.3923601806163788,
                        "yaw": 179.66696166992188
                    }
                },
                "velocity": {
                    "x": -8.278399467468262,
                    "y": 0.04813295230269432,
                    "z": 0.03225383535027504
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02645492553711,
                "transform": {
                    "location": {
                        "x": -135.00851440429688,
                        "y": 4295.06298828125,
                        "z": 372.9412536621094
                    },
                    "rotation": {
                        "roll": -0.0014038081280887127,
                        "pitch": 0.22795072197914124,
                        "yaw": 179.66265869140625
                    }
                },
                "velocity": {
                    "x": -8.02624225616455,
                    "y": 0.04931848868727684,
                    "z": 0.03128993883728981
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.361004829406738,
                "transform": {
                    "location": {
                        "x": -79.9828872680664,
                        "y": 4294.7392578125,
                        "z": 372.7184753417969
                    },
                    "rotation": {
                        "roll": 0.00038317061262205243,
                        "pitch": 0.23161853849887848,
                        "yaw": 179.6358642578125
                    }
                },
                "velocity": {
                    "x": -8.360784530639648,
                    "y": 0.05085565522313118,
                    "z": 0.033031683415174484
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6493542790412903,
        "expert_target_speed": 1.217927121525369,
        "target_point": [
            53.28325895459254,
            0.1969860672373291
        ],
        "target_point_next": [
            57.63296001027664,
            0.15701342063428592
        ]
    },
    "330": {
        "acceleration": [
            0.1919969916343689,
            -0.07095719873905182,
            -0.006747436709702015
        ],
        "angular_velocity": [
            -0.07163695991039276,
            -0.02273801900446415,
            0.02490128017961979
        ],
        "forward_vector": [
            -0.9999868869781494,
            -0.0030905017629265785,
            0.00407801941037178
        ],
        "right_vector": [
            0.0030903660226613283,
            -0.999995231628418,
            -3.9619651943212375e-05
        ],
        "location": [
            -108.19999694824219,
            4292.4404296875,
            372.8354187011719
        ],
        "rotation": [
            0.002270057797431946,
            0.2336539328098297,
            -179.8229217529297
        ],
        "velocity": [
            -0.025541987270116806,
            -0.000639003177639097,
            0.0012434768723323941
        ],
        "speed": 0.025549979232238954,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.375702857971191,
                "transform": {
                    "location": {
                        "x": -135.79164123535156,
                        "y": 4298.51904296875,
                        "z": 372.94342041015625
                    },
                    "rotation": {
                        "roll": -3.051760722883046e-05,
                        "pitch": -0.2082524597644806,
                        "yaw": -0.3372192084789276
                    }
                },
                "velocity": {
                    "x": 13.375367164611816,
                    "y": -0.07861635833978653,
                    "z": -0.052771586924791336
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0506010055542,
                "transform": {
                    "location": {
                        "x": -86.83265686035156,
                        "y": 4301.48291015625,
                        "z": 372.74859619140625
                    },
                    "rotation": {
                        "roll": 0.0006726665305905044,
                        "pitch": -0.235129252076149,
                        "yaw": -0.3518066108226776
                    }
                },
                "velocity": {
                    "x": 8.050382614135742,
                    "y": -0.049420494586229324,
                    "z": -0.0328025221824646
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029736518859863,
                "transform": {
                    "location": {
                        "x": -87.24171447753906,
                        "y": 4298.2333984375,
                        "z": 372.7510070800781
                    },
                    "rotation": {
                        "roll": -0.0021057124249637127,
                        "pitch": -0.2366933673620224,
                        "yaw": -0.3236083686351776
                    }
                },
                "velocity": {
                    "x": 8.02953815460205,
                    "y": -0.04573822021484375,
                    "z": -0.03314242139458656
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.199972152709961,
                "transform": {
                    "location": {
                        "x": -146.4528045654297,
                        "y": 4301.83056640625,
                        "z": 372.9884033203125
                    },
                    "rotation": {
                        "roll": 0.0037185526452958584,
                        "pitch": -0.044956304132938385,
                        "yaw": -0.2945556640625
                    }
                },
                "velocity": {
                    "x": 13.199715614318848,
                    "y": -0.06659289449453354,
                    "z": -0.048198383301496506
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024345397949219,
                "transform": {
                    "location": {
                        "x": -44.77164077758789,
                        "y": 4297.9833984375,
                        "z": 372.569091796875
                    },
                    "rotation": {
                        "roll": -0.00079345703125,
                        "pitch": -0.2390497773885727,
                        "yaw": -0.3592833876609802
                    }
                },
                "velocity": {
                    "x": 8.024117469787598,
                    "y": -0.050178468227386475,
                    "z": -0.03369149938225746
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02932357788086,
                "transform": {
                    "location": {
                        "x": -45.29343795776367,
                        "y": 4301.23681640625,
                        "z": 372.61639404296875
                    },
                    "rotation": {
                        "roll": 0.00023538077948614955,
                        "pitch": -0.23937763273715973,
                        "yaw": -0.3320923149585724
                    }
                },
                "velocity": {
                    "x": 8.029105186462402,
                    "y": -0.04845590144395828,
                    "z": -0.03406327962875366
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.679279804229736,
                "transform": {
                    "location": {
                        "x": -100.60453033447266,
                        "y": 4294.861328125,
                        "z": 372.79876708984375
                    },
                    "rotation": {
                        "roll": 0.0006456379196606576,
                        "pitch": 0.20438656210899353,
                        "yaw": 179.66030883789062
                    }
                },
                "velocity": {
                    "x": -7.679077625274658,
                    "y": 0.04548332095146179,
                    "z": 0.03216429799795151
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0067720413208,
                "transform": {
                    "location": {
                        "x": -118.61726379394531,
                        "y": 4294.96728515625,
                        "z": 372.8768005371094
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": 0.2503059208393097,
                        "yaw": 179.6673583984375
                    }
                },
                "velocity": {
                    "x": -8.006569862365723,
                    "y": 0.04655348137021065,
                    "z": 0.032736003398895264
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02582836151123,
                "transform": {
                    "location": {
                        "x": -137.01437377929688,
                        "y": 4295.07470703125,
                        "z": 372.9490051269531
                    },
                    "rotation": {
                        "roll": -9.155271982308477e-05,
                        "pitch": 0.22678275406360626,
                        "yaw": 179.63658142089844
                    }
                },
                "velocity": {
                    "x": -8.025614738464355,
                    "y": 0.05045538395643234,
                    "z": 0.02960055321455002
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.553428649902344,
                "transform": {
                    "location": {
                        "x": -82.09148406982422,
                        "y": 4294.7529296875,
                        "z": 372.7270202636719
                    },
                    "rotation": {
                        "roll": 4.3727046431740746e-05,
                        "pitch": 0.24021774530410767,
                        "yaw": 179.66000366210938
                    }
                },
                "velocity": {
                    "x": -8.553207397460938,
                    "y": 0.05137946084141731,
                    "z": 0.03386719524860382
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6545310616493225,
        "expert_target_speed": 1.212154545223357,
        "target_point": [
            53.276278518002094,
            0.2049854798327428
        ],
        "target_point_next": [
            57.62598550990925,
            0.16566410078971588
        ]
    },
    "335": {
        "acceleration": [
            -0.19098830223083496,
            0.07305204123258591,
            0.004091644659638405
        ],
        "angular_velocity": [
            0.07161559909582138,
            0.038166213780641556,
            -0.13747000694274902
        ],
        "forward_vector": [
            -0.9999874234199524,
            -0.002907875692471862,
            0.00409089308232069
        ],
        "right_vector": [
            0.002907626098021865,
            -0.999995768070221,
            -6.690527516184375e-05
        ],
        "location": [
            -108.20812225341797,
            4292.4404296875,
            372.83544921875
        ],
        "rotation": [
            0.003833422204479575,
            0.23439158499240875,
            -179.83338928222656
        ],
        "velocity": [
            -0.03665768727660179,
            0.0028706728480756283,
            0.0012685679830610752
        ],
        "speed": 0.03676991703920219,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.467131614685059,
                "transform": {
                    "location": {
                        "x": -132.43077087402344,
                        "y": 4298.49951171875,
                        "z": 372.9303894042969
                    },
                    "rotation": {
                        "roll": -0.00036621085018850863,
                        "pitch": -0.21896901726722717,
                        "yaw": -0.3370971381664276
                    }
                },
                "velocity": {
                    "x": 13.466797828674316,
                    "y": -0.07920894771814346,
                    "z": -0.05216261371970177
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08409595489502,
                "transform": {
                    "location": {
                        "x": -84.81562042236328,
                        "y": 4301.47119140625,
                        "z": 372.7403564453125
                    },
                    "rotation": {
                        "roll": 0.0004870246339123696,
                        "pitch": -0.23483555018901825,
                        "yaw": -0.352142333984375
                    }
                },
                "velocity": {
                    "x": 8.08387565612793,
                    "y": -0.049667347222566605,
                    "z": -0.033115848898887634
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029841423034668,
                "transform": {
                    "location": {
                        "x": -85.23390197753906,
                        "y": 4298.2216796875,
                        "z": 372.7427673339844
                    },
                    "rotation": {
                        "roll": 0.0004447828105185181,
                        "pitch": -0.23724660277366638,
                        "yaw": -0.35357666015625
                    }
                },
                "velocity": {
                    "x": 8.029622077941895,
                    "y": -0.04932890459895134,
                    "z": -0.03290187940001488
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.55701732635498,
                "transform": {
                    "location": {
                        "x": -143.08624267578125,
                        "y": 4301.81201171875,
                        "z": 372.9757080078125
                    },
                    "rotation": {
                        "roll": 0.0036972369998693466,
                        "pitch": -0.1284758448600769,
                        "yaw": -0.3218993842601776
                    }
                },
                "velocity": {
                    "x": 13.556713104248047,
                    "y": -0.0762479156255722,
                    "z": -0.049322742968797684
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075532913208008,
                "transform": {
                    "location": {
                        "x": -42.758670806884766,
                        "y": 4297.9716796875,
                        "z": 372.56072998046875
                    },
                    "rotation": {
                        "roll": 5.271456757327542e-05,
                        "pitch": -0.2384009063243866,
                        "yaw": -0.3540954887866974
                    }
                },
                "velocity": {
                    "x": 8.075312614440918,
                    "y": -0.04989633336663246,
                    "z": -0.032698698341846466
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030024528503418,
                "transform": {
                    "location": {
                        "x": -43.28562545776367,
                        "y": 4301.22509765625,
                        "z": 372.6080322265625
                    },
                    "rotation": {
                        "roll": 0.0002671061083674431,
                        "pitch": -0.23907709121704102,
                        "yaw": -0.3622435927391052
                    }
                },
                "velocity": {
                    "x": 8.02980899810791,
                    "y": -0.04882228374481201,
                    "z": -0.033046480268239975
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.419939994812012,
                "transform": {
                    "location": {
                        "x": -102.60077667236328,
                        "y": 4294.87255859375,
                        "z": 372.8064270019531
                    },
                    "rotation": {
                        "roll": 0.0002908021560870111,
                        "pitch": 0.259280800819397,
                        "yaw": 179.6604766845703
                    }
                },
                "velocity": {
                    "x": -8.41972827911377,
                    "y": 0.049918532371520996,
                    "z": 0.032847996801137924
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.918729305267334,
                "transform": {
                    "location": {
                        "x": -120.58811950683594,
                        "y": 4294.97900390625,
                        "z": 372.8848876953125
                    },
                    "rotation": {
                        "roll": 0.0007768128416500986,
                        "pitch": 0.1926249861717224,
                        "yaw": 179.65708923339844
                    }
                },
                "velocity": {
                    "x": -7.918520450592041,
                    "y": 0.047444552183151245,
                    "z": 0.032503392547369
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.783792972564697,
                "transform": {
                    "location": {
                        "x": -139.0028076171875,
                        "y": 4295.08642578125,
                        "z": 372.956787109375
                    },
                    "rotation": {
                        "roll": -6.103519262978807e-05,
                        "pitch": 0.1737395077943802,
                        "yaw": 179.66221618652344
                    }
                },
                "velocity": {
                    "x": -7.783593654632568,
                    "y": 0.047655802220106125,
                    "z": 0.02885809913277626
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.048545837402344,
                "transform": {
                    "location": {
                        "x": -84.16148376464844,
                        "y": 4294.76513671875,
                        "z": 372.7356262207031
                    },
                    "rotation": {
                        "roll": 0.00026947600417770445,
                        "pitch": 0.22168061137199402,
                        "yaw": 179.64979553222656
                    }
                },
                "velocity": {
                    "x": -8.048336029052734,
                    "y": 0.04776763916015625,
                    "z": 0.03299464285373688
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6565001010894775,
        "expert_target_speed": 1.2233564231285663,
        "target_point": [
            53.2681149224913,
            0.2147388766462645
        ],
        "target_point_next": [
            57.6178290230697,
            0.17621187929032628
        ]
    },
    "340": {
        "acceleration": [
            0.15112444758415222,
            -0.06850145012140274,
            0.0026296614669263363
        ],
        "angular_velocity": [
            -0.0674961730837822,
            -0.013154816813766956,
            0.0017850404838100076
        ],
        "forward_vector": [
            -0.9999879598617554,
            -0.0027035530656576157,
            0.004106986802071333
        ],
        "right_vector": [
            0.0027033358346670866,
            -0.9999963641166687,
            -5.84214212722145e-05
        ],
        "location": [
            -108.21702575683594,
            4292.4404296875,
            372.83551025390625
        ],
        "rotation": [
            0.0033473290968686342,
            0.23531366884708405,
            -179.8450927734375
        ],
        "velocity": [
            -0.035058971494436264,
            -0.00059318303829059,
            0.0016687011811882257
        ],
        "speed": 0.03506398933898723,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.450606346130371,
                "transform": {
                    "location": {
                        "x": -129.0656280517578,
                        "y": 4298.47998046875,
                        "z": 372.91729736328125
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": -0.2250957041978836,
                        "yaw": -0.3370361626148224
                    }
                },
                "velocity": {
                    "x": 13.450270652770996,
                    "y": -0.07911748439073563,
                    "z": -0.05275249481201172
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051165580749512,
                "transform": {
                    "location": {
                        "x": -82.79866790771484,
                        "y": 4301.45947265625,
                        "z": 372.7320556640625
                    },
                    "rotation": {
                        "roll": 0.0008917623781599104,
                        "pitch": -0.23497898876667023,
                        "yaw": -0.35235595703125
                    }
                },
                "velocity": {
                    "x": 8.050947189331055,
                    "y": -0.049467772245407104,
                    "z": -0.03283950313925743
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029098510742188,
                "transform": {
                    "location": {
                        "x": -83.22608947753906,
                        "y": 4298.2099609375,
                        "z": 372.73455810546875
                    },
                    "rotation": {
                        "roll": 0.0007020987686701119,
                        "pitch": -0.2373080849647522,
                        "yaw": -0.33209228515625
                    }
                },
                "velocity": {
                    "x": 8.028883934020996,
                    "y": -0.048556018620729446,
                    "z": -0.03289859741926193
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.407341957092285,
                "transform": {
                    "location": {
                        "x": -139.71702575683594,
                        "y": 4301.79248046875,
                        "z": 372.9629211425781
                    },
                    "rotation": {
                        "roll": 0.0017884672852233052,
                        "pitch": -0.21700875461101532,
                        "yaw": -0.3339538276195526
                    }
                },
                "velocity": {
                    "x": 13.407023429870605,
                    "y": -0.07776088267564774,
                    "z": -0.05005745217204094
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02251148223877,
                "transform": {
                    "location": {
                        "x": -40.7463264465332,
                        "y": 4297.9599609375,
                        "z": 372.5523376464844
                    },
                    "rotation": {
                        "roll": 0.000787800585385412,
                        "pitch": -0.24001966416835785,
                        "yaw": -0.3558043837547302
                    }
                },
                "velocity": {
                    "x": 8.022276878356934,
                    "y": -0.051245108246803284,
                    "z": -0.03368966653943062
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030993461608887,
                "transform": {
                    "location": {
                        "x": -41.27781295776367,
                        "y": 4301.21337890625,
                        "z": 372.59967041015625
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.2390156239271164,
                        "yaw": -0.3384704887866974
                    }
                },
                "velocity": {
                    "x": 8.030782699584961,
                    "y": -0.047546274960041046,
                    "z": -0.033573735505342484
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.098980903625488,
                "transform": {
                    "location": {
                        "x": -104.70867156982422,
                        "y": 4294.884765625,
                        "z": 372.8150939941406
                    },
                    "rotation": {
                        "roll": -0.0012817378155887127,
                        "pitch": 0.2239072471857071,
                        "yaw": 179.6605682373047
                    }
                },
                "velocity": {
                    "x": -8.098774909973145,
                    "y": 0.04803073778748512,
                    "z": 0.032058265060186386
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.143609046936035,
                "transform": {
                    "location": {
                        "x": -122.60836029052734,
                        "y": 4294.99072265625,
                        "z": 372.8924865722656
                    },
                    "rotation": {
                        "roll": -0.0012817380484193563,
                        "pitch": 0.28217560052871704,
                        "yaw": 179.6604766845703
                    }
                },
                "velocity": {
                    "x": -8.143400192260742,
                    "y": 0.04828508570790291,
                    "z": 0.03274793550372124
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.9219770431518555,
                "transform": {
                    "location": {
                        "x": -140.83116149902344,
                        "y": 4295.09814453125,
                        "z": 372.9645690917969
                    },
                    "rotation": {
                        "roll": 0.0011584716849029064,
                        "pitch": -0.03796219080686569,
                        "yaw": 179.6363983154297
                    }
                },
                "velocity": {
                    "x": -6.921785831451416,
                    "y": 0.04408719763159752,
                    "z": 0.026548661291599274
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.736340522766113,
                "transform": {
                    "location": {
                        "x": -85.94671630859375,
                        "y": 4294.775390625,
                        "z": 372.74310302734375
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": 0.19819842278957367,
                        "yaw": 179.64511108398438
                    }
                },
                "velocity": {
                    "x": -6.7361626625061035,
                    "y": 0.03950080648064613,
                    "z": 0.028919991105794907
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6270568370819092,
        "expert_target_speed": 1.2216232126611404,
        "target_point": [
            53.25916651701081,
            0.22563423696134466
        ],
        "target_point_next": [
            57.6088883898362,
            0.18799495747457862
        ]
    },
    "345": {
        "acceleration": [
            -1.6942387819290161,
            0.05519690364599228,
            -0.008784674108028412
        ],
        "angular_velocity": [
            -0.0705147236585617,
            0.2659069299697876,
            -0.05047029256820679
        ],
        "forward_vector": [
            -0.9999877214431763,
            -0.002187141217291355,
            0.004449352156370878
        ],
        "right_vector": [
            0.0021867556497454643,
            -0.999997615814209,
            -9.151203266810626e-05
        ],
        "location": [
            -108.2328109741211,
            4292.44091796875,
            372.83551025390625
        ],
        "rotation": [
            0.005243305116891861,
            0.25492995977401733,
            -179.8746795654297
        ],
        "velocity": [
            -0.1358109414577484,
            0.002800840651616454,
            0.0014111804775893688
        ],
        "speed": 0.1358398193756003,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.419833183288574,
                "transform": {
                    "location": {
                        "x": -125.7074203491211,
                        "y": 4298.46044921875,
                        "z": 372.9041442871094
                    },
                    "rotation": {
                        "roll": 8.490058098686859e-05,
                        "pitch": -0.22577188909053802,
                        "yaw": -0.3398742377758026
                    }
                },
                "velocity": {
                    "x": 13.419492721557617,
                    "y": -0.07969903945922852,
                    "z": -0.05298689752817154
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084481239318848,
                "transform": {
                    "location": {
                        "x": -80.78179168701172,
                        "y": 4301.447265625,
                        "z": 372.7237548828125
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.23577812314033508,
                        "yaw": -0.3590392470359802
                    }
                },
                "velocity": {
                    "x": 8.084245681762695,
                    "y": -0.05182632431387901,
                    "z": -0.03363187238574028
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029497146606445,
                "transform": {
                    "location": {
                        "x": -81.2183609008789,
                        "y": 4298.1982421875,
                        "z": 372.726318359375
                    },
                    "rotation": {
                        "roll": -0.0007934569148346782,
                        "pitch": -0.23857849836349487,
                        "yaw": -0.3552855849266052
                    }
                },
                "velocity": {
                    "x": 8.029285430908203,
                    "y": -0.047910869121551514,
                    "z": -0.03326171636581421
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.376708984375,
                "transform": {
                    "location": {
                        "x": -136.3718719482422,
                        "y": 4301.77294921875,
                        "z": 372.9500427246094
                    },
                    "rotation": {
                        "roll": 0.0009646842372603714,
                        "pitch": -0.22402335703372955,
                        "yaw": -0.33685302734375
                    }
                },
                "velocity": {
                    "x": 13.376373291015625,
                    "y": -0.07913662493228912,
                    "z": -0.05209701880812645
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076313018798828,
                "transform": {
                    "location": {
                        "x": -38.733360290527344,
                        "y": 4297.9482421875,
                        "z": 372.5439453125
                    },
                    "rotation": {
                        "roll": 0.0011596170952543616,
                        "pitch": -0.2386741191148758,
                        "yaw": -0.3544921875
                    }
                },
                "velocity": {
                    "x": 8.076088905334473,
                    "y": -0.0498446449637413,
                    "z": -0.03364459425210953
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030120849609375,
                "transform": {
                    "location": {
                        "x": -39.27000045776367,
                        "y": 4301.20166015625,
                        "z": 372.59130859375
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.2395961880683899,
                        "yaw": -0.365753173828125
                    }
                },
                "velocity": {
                    "x": 8.029898643493652,
                    "y": -0.04969204217195511,
                    "z": -0.03302972763776779
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.629937171936035,
                "transform": {
                    "location": {
                        "x": -106.65554809570312,
                        "y": 4294.896484375,
                        "z": 372.8230895996094
                    },
                    "rotation": {
                        "roll": 5.5627617257414386e-05,
                        "pitch": 0.19981718063354492,
                        "yaw": 179.66038513183594
                    }
                },
                "velocity": {
                    "x": -7.62974214553833,
                    "y": 0.0451616570353508,
                    "z": 0.030586060136556625
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.956155776977539,
                "transform": {
                    "location": {
                        "x": -124.61890411376953,
                        "y": 4295.00244140625,
                        "z": 372.9006652832031
                    },
                    "rotation": {
                        "roll": 0.0007658078684471548,
                        "pitch": 0.20632633566856384,
                        "yaw": 179.6590118408203
                    }
                },
                "velocity": {
                    "x": -7.955944061279297,
                    "y": 0.04836816340684891,
                    "z": 0.032052651047706604
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3711,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.1632537841796875,
                "transform": {
                    "location": {
                        "x": -142.32069396972656,
                        "y": 4295.10693359375,
                        "z": 372.9714050292969
                    },
                    "rotation": {
                        "roll": -0.00030517586856149137,
                        "pitch": -0.3652306795120239,
                        "yaw": 179.66412353515625
                    }
                },
                "velocity": {
                    "x": -5.163122653961182,
                    "y": 0.030986206606030464,
                    "z": 0.019828977063298225
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.115714073181152,
                "transform": {
                    "location": {
                        "x": -87.65882873535156,
                        "y": 4294.78564453125,
                        "z": 372.7498474121094
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": 0.23875607550144196,
                        "yaw": 179.6214599609375
                    }
                },
                "velocity": {
                    "x": -7.115520477294922,
                    "y": 0.04358873888850212,
                    "z": 0.029261797666549683
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6411475539207458,
        "expert_target_speed": 1.3222732275700422,
        "target_point": [
            53.24325878297956,
            0.2536608255717235
        ],
        "target_point_next": [
            57.59299951327835,
            0.21826781106922286
        ]
    },
    "350": {
        "acceleration": [
            -1.3425654172897339,
            0.1438359171152115,
            0.02259502187371254
        ],
        "angular_velocity": [
            0.10011683404445648,
            0.28100335597991943,
            -0.3577863574028015
        ],
        "forward_vector": [
            -0.999981701374054,
            -0.0004977215430699289,
            0.006033740937709808
        ],
        "right_vector": [
            0.0004956692573614419,
            -0.9999998211860657,
            -0.00034161415533162653
        ],
        "location": [
            -108.31913757324219,
            4292.44384765625,
            372.8355407714844
        ],
        "rotation": [
            0.019573405385017395,
            0.34571000933647156,
            -179.9714813232422
        ],
        "velocity": [
            -0.5256542563438416,
            0.02412022277712822,
            0.0024951265659183264
        ],
        "speed": 0.526207356808336,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.41748332977295,
                "transform": {
                    "location": {
                        "x": -122.35296630859375,
                        "y": 4298.44091796875,
                        "z": 372.8908996582031
                    },
                    "rotation": {
                        "roll": 0.0001343211333733052,
                        "pitch": -0.22519132494926453,
                        "yaw": -0.34454345703125
                    }
                },
                "velocity": {
                    "x": 13.417137145996094,
                    "y": -0.08064138144254684,
                    "z": -0.05278405547142029
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051788330078125,
                "transform": {
                    "location": {
                        "x": -78.76437377929688,
                        "y": 4301.43505859375,
                        "z": 372.7154541015625
                    },
                    "rotation": {
                        "roll": 0.00036787157296203077,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3583373725414276
                    }
                },
                "velocity": {
                    "x": 8.051565170288086,
                    "y": -0.050213173031806946,
                    "z": -0.03271973878145218
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030343055725098,
                "transform": {
                    "location": {
                        "x": -79.2105484008789,
                        "y": 4298.1865234375,
                        "z": 372.71807861328125
                    },
                    "rotation": {
                        "roll": -0.0007019043550826609,
                        "pitch": -0.23831211030483246,
                        "yaw": -0.3304443359375
                    }
                },
                "velocity": {
                    "x": 8.030132293701172,
                    "y": -0.04822766035795212,
                    "z": -0.0326111726462841
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -164.4375,
                        "y": 4298.5888671875,
                        "z": 373.3358459472656
                    },
                    "rotation": {
                        "roll": -5.211051035125536e-11,
                        "pitch": -0.19540487229824066,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400689125061035,
                "transform": {
                    "location": {
                        "x": -133.02444458007812,
                        "y": 4301.75341796875,
                        "z": 372.93707275390625
                    },
                    "rotation": {
                        "roll": -0.00012207023974042386,
                        "pitch": -0.21862751245498657,
                        "yaw": -0.34381103515625
                    }
                },
                "velocity": {
                    "x": 13.400349617004395,
                    "y": -0.07954593747854233,
                    "z": -0.05261670798063278
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -36.66609191894531,
                        "y": 4297.86865234375,
                        "z": 372.5426330566406
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -37.21828079223633,
                        "y": 4301.1416015625,
                        "z": 372.5670166015625
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.181429862976074,
                "transform": {
                    "location": {
                        "x": -108.62367248535156,
                        "y": 4294.908203125,
                        "z": 372.83050537109375
                    },
                    "rotation": {
                        "roll": -0.0010070797288790345,
                        "pitch": 0.25338634848594666,
                        "yaw": 179.6605682373047
                    }
                },
                "velocity": {
                    "x": -8.181220054626465,
                    "y": 0.04846200346946716,
                    "z": 0.03293607756495476
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.604885578155518,
                "transform": {
                    "location": {
                        "x": -126.57569885253906,
                        "y": 4295.01416015625,
                        "z": 372.90875244140625
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": 0.12136562168598175,
                        "yaw": 179.66073608398438
                    }
                },
                "velocity": {
                    "x": -7.604698181152344,
                    "y": 0.04500044137239456,
                    "z": 0.02871367335319519
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4943090677261353,
                "transform": {
                    "location": {
                        "x": -49.4296875,
                        "y": 4294.65869140625,
                        "z": 372.8819885253906
                    },
                    "rotation": {
                        "roll": -5.211065953747429e-11,
                        "pitch": 0.23806622624397278,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.27460795640945435,
                    "y": 0.001623036921955645,
                    "z": -1.4688591957092285
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.707199573516846,
                "transform": {
                    "location": {
                        "x": -89.5418701171875,
                        "y": 4294.79736328125,
                        "z": 372.75738525390625
                    },
                    "rotation": {
                        "roll": -0.00036621076287701726,
                        "pitch": 0.25564029812812805,
                        "yaw": 179.64588928222656
                    }
                },
                "velocity": {
                    "x": -7.707004070281982,
                    "y": 0.04551823064684868,
                    "z": 0.030719146132469177
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6422329545021057,
        "expert_target_speed": 1.712086272474675,
        "target_point": [
            53.15642912690797,
            0.34658405828502936
        ],
        "target_point_next": [
            57.50622344385606,
            0.31853969090097456
        ]
    },
    "355": {
        "acceleration": [
            -1.6416716575622559,
            0.3268086314201355,
            0.0019245129078626633
        ],
        "angular_velocity": [
            0.20606729388237,
            -0.006357211619615555,
            -2.324373722076416
        ],
        "forward_vector": [
            -0.9999595284461975,
            0.005925636272877455,
            0.006764240562915802
        ],
        "right_vector": [
            -0.005930974613875151,
            -0.9999820590019226,
            -0.0007694260566495359
        ],
        "location": [
            -108.4989013671875,
            4292.453125,
            372.83612060546875
        ],
        "rotation": [
            0.04408587887883186,
            0.38756540417671204,
            179.6604766845703
        ],
        "velocity": [
            -0.8946495056152344,
            0.06697526574134827,
            0.0022899245377629995
        ],
        "speed": 0.8971529546954118,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.408822059631348,
                "transform": {
                    "location": {
                        "x": -119.0004653930664,
                        "y": 4298.421875,
                        "z": 372.8777160644531
                    },
                    "rotation": {
                        "roll": 0.0005343615193851292,
                        "pitch": -0.22692619264125824,
                        "yaw": -0.3464049696922302
                    }
                },
                "velocity": {
                    "x": 13.408474922180176,
                    "y": -0.08092394471168518,
                    "z": -0.05257927253842354
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0819673538208,
                "transform": {
                    "location": {
                        "x": -76.74781036376953,
                        "y": 4301.4228515625,
                        "z": 372.70709228515625
                    },
                    "rotation": {
                        "roll": 0.0006265269475989044,
                        "pitch": -0.23605132102966309,
                        "yaw": -0.3573607802391052
                    }
                },
                "velocity": {
                    "x": 8.081743240356445,
                    "y": -0.05041885748505592,
                    "z": -0.032755546271800995
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029081344604492,
                "transform": {
                    "location": {
                        "x": -77.2027359008789,
                        "y": 4298.1748046875,
                        "z": 372.7098083496094
                    },
                    "rotation": {
                        "roll": -0.000762939453125,
                        "pitch": -0.23889268934726715,
                        "yaw": -0.356048583984375
                    }
                },
                "velocity": {
                    "x": 8.028865814208984,
                    "y": -0.049017127603292465,
                    "z": -0.03244658559560776
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.13074176013469696,
                "transform": {
                    "location": {
                        "x": -164.43788146972656,
                        "y": 4298.5888671875,
                        "z": 372.9781799316406
                    },
                    "rotation": {
                        "roll": 0.0008479208336211741,
                        "pitch": -0.19824622571468353,
                        "yaw": -0.33868408203125
                    }
                },
                "velocity": {
                    "x": -0.0004448985564522445,
                    "y": 8.149524364853278e-05,
                    "z": -0.1307409703731537
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.403287887573242,
                "transform": {
                    "location": {
                        "x": -129.67320251464844,
                        "y": 4301.73388671875,
                        "z": 372.9239501953125
                    },
                    "rotation": {
                        "roll": 1.0296950677002314e-05,
                        "pitch": -0.22399604320526123,
                        "yaw": -0.3304443061351776
                    }
                },
                "velocity": {
                    "x": 13.402955055236816,
                    "y": -0.07833588868379593,
                    "z": -0.05275842174887657
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -34.58367156982422,
                        "y": 4297.82275390625,
                        "z": 372.53765869140625
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -35.13632583618164,
                        "y": 4301.08154296875,
                        "z": 372.54241943359375
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.090593338012695,
                "transform": {
                    "location": {
                        "x": -110.67523193359375,
                        "y": 4294.92041015625,
                        "z": 372.8388977050781
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": 0.2300749123096466,
                        "yaw": 179.6522216796875
                    }
                },
                "velocity": {
                    "x": -8.090376853942871,
                    "y": 0.049127936363220215,
                    "z": 0.03298139572143555
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.908930778503418,
                "transform": {
                    "location": {
                        "x": -128.48890686035156,
                        "y": 4295.02587890625,
                        "z": 372.9158020019531
                    },
                    "rotation": {
                        "roll": -0.00039672860293649137,
                        "pitch": 0.24208921194076538,
                        "yaw": 179.6611328125
                    }
                },
                "velocity": {
                    "x": -7.908736228942871,
                    "y": 0.04674432799220085,
                    "z": 0.02985701523721218
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6266419887542725,
                "transform": {
                    "location": {
                        "x": -49.49570083618164,
                        "y": 4294.65869140625,
                        "z": 372.5140075683594
                    },
                    "rotation": {
                        "roll": -0.0028991696890443563,
                        "pitch": 0.23733539879322052,
                        "yaw": 179.68006896972656
                    }
                },
                "velocity": {
                    "x": -0.31348392367362976,
                    "y": -0.0027060213033109903,
                    "z": -0.5425870418548584
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.220688819885254,
                "transform": {
                    "location": {
                        "x": -91.69609069824219,
                        "y": 4294.81005859375,
                        "z": 372.7658996582031
                    },
                    "rotation": {
                        "roll": -0.0006103513296693563,
                        "pitch": 0.2780979573726654,
                        "yaw": 179.5983123779297
                    }
                },
                "velocity": {
                    "x": -9.220450401306152,
                    "y": 0.05500386655330658,
                    "z": 0.03702502325177193
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6964364051818848,
        "expert_target_speed": 2.0821715480455074,
        "target_point": [
            52.97329061672876,
            0.6962354372929744
        ],
        "target_point_next": [
            57.32317533653997,
            0.696132244240968
        ]
    },
    "360": {
        "acceleration": [
            -2.563199996948242,
            0.29235541820526123,
            0.02182922326028347
        ],
        "angular_velocity": [
            0.1539105474948883,
            0.35468339920043945,
            -3.9945881366729736
        ],
        "forward_vector": [
            -0.9997845888137817,
            0.0193985253572464,
            0.007382325362414122
        ],
        "right_vector": [
            -0.019407816231250763,
            -0.9998109340667725,
            -0.0011889258166775107
        ],
        "location": [
            -108.78374481201172,
            4292.4755859375,
            372.8369445800781
        ],
        "rotation": [
            0.06812229752540588,
            0.4229799211025238,
            178.88844299316406
        ],
        "velocity": [
            -1.4017293453216553,
            0.13371799886226654,
            0.005651197396218777
        ],
        "speed": 1.408092916236569,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.416175842285156,
                "transform": {
                    "location": {
                        "x": -115.64788818359375,
                        "y": 4298.40185546875,
                        "z": 372.86444091796875
                    },
                    "rotation": {
                        "roll": 0.00018739189545158297,
                        "pitch": -0.22659151256084442,
                        "yaw": -0.3464660346508026
                    }
                },
                "velocity": {
                    "x": 13.415828704833984,
                    "y": -0.08108840137720108,
                    "z": -0.05219079926609993
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052689552307129,
                "transform": {
                    "location": {
                        "x": -74.73124694824219,
                        "y": 4301.41162109375,
                        "z": 372.69879150390625
                    },
                    "rotation": {
                        "roll": -6.103517080191523e-05,
                        "pitch": -0.23626989126205444,
                        "yaw": -0.3550719916820526
                    }
                },
                "velocity": {
                    "x": 8.05246639251709,
                    "y": -0.04967755079269409,
                    "z": -0.03343276306986809
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030291557312012,
                "transform": {
                    "location": {
                        "x": -75.1949234008789,
                        "y": 4298.1630859375,
                        "z": 372.7015075683594
                    },
                    "rotation": {
                        "roll": -0.00039672842831350863,
                        "pitch": -0.23828479647636414,
                        "yaw": -0.3326110243797302
                    }
                },
                "velocity": {
                    "x": 8.030083656311035,
                    "y": -0.047676194459199905,
                    "z": -0.03255758807063103
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.18548224866390228,
                "transform": {
                    "location": {
                        "x": -164.43788146972656,
                        "y": 4298.5888671875,
                        "z": 373.0251159667969
                    },
                    "rotation": {
                        "roll": 0.00026996698579750955,
                        "pitch": -0.19885411858558655,
                        "yaw": -0.3386840522289276
                    }
                },
                "velocity": {
                    "x": 0.0006475656991824508,
                    "y": -0.0001376287400489673,
                    "z": 0.18548107147216797
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.399629592895508,
                "transform": {
                    "location": {
                        "x": -126.32335662841797,
                        "y": 4301.71435546875,
                        "z": 372.9107666015625
                    },
                    "rotation": {
                        "roll": 0.00033169175731018186,
                        "pitch": -0.2251298576593399,
                        "yaw": -0.3439331352710724
                    }
                },
                "velocity": {
                    "x": 13.399290084838867,
                    "y": -0.07934728264808655,
                    "z": -0.05292088910937309
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -32.50046920776367,
                        "y": 4297.81005859375,
                        "z": 372.5290222167969
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -33.053123474121094,
                        "y": 4301.06591796875,
                        "z": 372.53265380859375
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.92370080947876,
                "transform": {
                    "location": {
                        "x": -112.66156005859375,
                        "y": 4294.93212890625,
                        "z": 372.8468322753906
                    },
                    "rotation": {
                        "roll": 0.0009090793319046497,
                        "pitch": 0.22082683444023132,
                        "yaw": 179.65158081054688
                    }
                },
                "velocity": {
                    "x": -7.923488140106201,
                    "y": 0.04814921319484711,
                    "z": 0.032378777861595154
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.254316329956055,
                "transform": {
                    "location": {
                        "x": -130.5438995361328,
                        "y": 4295.03759765625,
                        "z": 372.9232482910156
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": 0.36057934165000916,
                        "yaw": 179.65757751464844
                    }
                },
                "velocity": {
                    "x": -8.254103660583496,
                    "y": 0.04933784529566765,
                    "z": 0.03296982869505882
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4540334939956665,
                "transform": {
                    "location": {
                        "x": -49.557186126708984,
                        "y": 4294.6591796875,
                        "z": 372.5447692871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23825064301490784,
                        "yaw": 179.70542907714844
                    }
                },
                "velocity": {
                    "x": -0.20310471951961517,
                    "y": -0.0019373800605535507,
                    "z": 0.4060678780078888
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.577857971191406,
                "transform": {
                    "location": {
                        "x": -93.94343566894531,
                        "y": 4294.82373046875,
                        "z": 372.7755126953125
                    },
                    "rotation": {
                        "roll": -0.0014038082445040345,
                        "pitch": 0.22484982013702393,
                        "yaw": 179.6497039794922
                    }
                },
                "velocity": {
                    "x": -8.577635765075684,
                    "y": 0.05011000111699104,
                    "z": 0.03598720580339432
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7387140989303589,
        "expert_target_speed": 2.5909614552165214,
        "target_point": [
            52.67387506551987,
            1.4268684178490003
        ],
        "target_point_next": [
            57.023366296608835,
            1.4853758274320108
        ]
    },
    "365": {
        "acceleration": [
            -1.85227632522583,
            0.4319143295288086,
            -0.00014514662325382233
        ],
        "angular_velocity": [
            0.14632856845855713,
            0.023477647453546524,
            -4.978420257568359
        ],
        "forward_vector": [
            -0.9992306232452393,
            0.0385485514998436,
            0.007221397012472153
        ],
        "right_vector": [
            -0.03855860233306885,
            -0.9992555379867554,
            -0.0012575932778418064
        ],
        "location": [
            -109.17718505859375,
            4292.51318359375,
            372.8386535644531
        ],
        "rotation": [
            0.07205668091773987,
            0.41375917196273804,
            177.7907257080078
        ],
        "velocity": [
            -1.7571004629135132,
            0.20136186480522156,
            0.0062790680676698685
        ],
        "speed": 1.768600756917377,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -164.41827392578125,
                        "y": 4301.8388671875,
                        "z": 373.3995361328125
                    },
                    "rotation": {
                        "roll": -5.211051035125536e-11,
                        "pitch": -0.19540487229824066,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.409584045410156,
                "transform": {
                    "location": {
                        "x": -112.2953872680664,
                        "y": 4298.38232421875,
                        "z": 372.8511657714844
                    },
                    "rotation": {
                        "roll": 0.00021910184295848012,
                        "pitch": -0.22672128677368164,
                        "yaw": -0.350555419921875
                    }
                },
                "velocity": {
                    "x": 13.409229278564453,
                    "y": -0.08190707117319107,
                    "z": -0.052862346172332764
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084956169128418,
                "transform": {
                    "location": {
                        "x": -72.71351623535156,
                        "y": 4301.3994140625,
                        "z": 372.69049072265625
                    },
                    "rotation": {
                        "roll": -3.051760722883046e-05,
                        "pitch": -0.23571664094924927,
                        "yaw": -0.35357666015625
                    }
                },
                "velocity": {
                    "x": 8.084732055664062,
                    "y": -0.04988580942153931,
                    "z": -0.033826541155576706
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029458045959473,
                "transform": {
                    "location": {
                        "x": -73.1871109008789,
                        "y": 4298.1513671875,
                        "z": 372.6932678222656
                    },
                    "rotation": {
                        "roll": 0.0002122619771398604,
                        "pitch": -0.23818917572498322,
                        "yaw": -0.3621826171875
                    }
                },
                "velocity": {
                    "x": 8.029244422912598,
                    "y": -0.048667047172784805,
                    "z": -0.03272152319550514
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6107994318008423,
                "transform": {
                    "location": {
                        "x": -164.41061401367188,
                        "y": 4298.5888671875,
                        "z": 373.0457763671875
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": -0.18518008291721344,
                        "yaw": -0.3314819633960724
                    }
                },
                "velocity": {
                    "x": 0.6105339527130127,
                    "y": 0.002531748730689287,
                    "z": 0.017827767878770828
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.3997163772583,
                "transform": {
                    "location": {
                        "x": -122.97374725341797,
                        "y": 4301.69482421875,
                        "z": 372.8976135253906
                    },
                    "rotation": {
                        "roll": -0.00024414053768850863,
                        "pitch": -0.22461076080799103,
                        "yaw": -0.3392333984375
                    }
                },
                "velocity": {
                    "x": 13.39936637878418,
                    "y": -0.08115468919277191,
                    "z": -0.05291328206658363
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3902,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -30.417264938354492,
                        "y": 4297.796875,
                        "z": 372.5203552246094
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3903,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -30.969921112060547,
                        "y": 4301.05029296875,
                        "z": 372.52288818359375
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.147972106933594,
                "transform": {
                    "location": {
                        "x": -114.67796325683594,
                        "y": 4294.94384765625,
                        "z": 372.8547668457031
                    },
                    "rotation": {
                        "roll": 7.850405381759629e-05,
                        "pitch": 0.23499947786331177,
                        "yaw": 179.652099609375
                    }
                },
                "velocity": {
                    "x": -8.147756576538086,
                    "y": 0.04954221472144127,
                    "z": 0.032339248806238174
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.837825775146484,
                "transform": {
                    "location": {
                        "x": -132.54405212402344,
                        "y": 4295.04931640625,
                        "z": 372.93182373046875
                    },
                    "rotation": {
                        "roll": -0.0007934569148346782,
                        "pitch": 0.16451875865459442,
                        "yaw": 179.6613006591797
                    }
                },
                "velocity": {
                    "x": -7.837623119354248,
                    "y": 0.04639959707856178,
                    "z": 0.03205106779932976
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8597744107246399,
                "transform": {
                    "location": {
                        "x": -49.68210983276367,
                        "y": 4294.658203125,
                        "z": 372.615234375
                    },
                    "rotation": {
                        "roll": -0.0030517573468387127,
                        "pitch": 0.33732935786247253,
                        "yaw": 179.71835327148438
                    }
                },
                "velocity": {
                    "x": -0.8511812686920166,
                    "y": -0.006260934751480818,
                    "z": 0.12109193205833435
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.970916748046875,
                "transform": {
                    "location": {
                        "x": -95.99679565429688,
                        "y": 4294.8359375,
                        "z": 372.783935546875
                    },
                    "rotation": {
                        "roll": -0.0011291506234556437,
                        "pitch": 0.21372343599796295,
                        "yaw": 179.68795776367188
                    }
                },
                "velocity": {
                    "x": -7.970715045928955,
                    "y": 0.04631846398115158,
                    "z": 0.03274618089199066
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8155173063278198,
        "expert_target_speed": 2.9488912341740274,
        "target_point": [
            52.24227545517498,
            2.4581179958653996
        ],
        "target_point_next": [
            56.58984758050389,
            2.599940777388454
        ]
    },
    "370": {
        "acceleration": [
            -2.891983985900879,
            0.5416929721832275,
            0.03628082573413849
        ],
        "angular_velocity": [
            0.08550892025232315,
            0.33164066076278687,
            -6.544894218444824
        ],
        "forward_vector": [
            -0.9979574084281921,
            0.06334221363067627,
            0.008290672674775124
        ],
        "right_vector": [
            -0.06335868686437607,
            -0.9979893565177917,
            -0.0017396335024386644
        ],
        "location": [
            -109.6957015991211,
            4292.5732421875,
            372.84039306640625
        ],
        "rotation": [
            0.09967713803052902,
            0.4750259816646576,
            176.3682098388672
        ],
        "velocity": [
            -2.4053516387939453,
            0.32501813769340515,
            0.009390678256750107
        ],
        "speed": 2.4272110118566963,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.608423113822937,
                "transform": {
                    "location": {
                        "x": -164.41867065429688,
                        "y": 4301.8388671875,
                        "z": 372.99566650390625
                    },
                    "rotation": {
                        "roll": -0.00045776375918649137,
                        "pitch": -0.1981847584247589,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": -0.0021738221403211355,
                    "y": 0.00011455048661446199,
                    "z": -0.6084192395210266
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.416791915893555,
                "transform": {
                    "location": {
                        "x": -108.94288635253906,
                        "y": 4298.361328125,
                        "z": 372.83782958984375
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": -0.22930993139743805,
                        "yaw": -0.354888916015625
                    }
                },
                "velocity": {
                    "x": 13.416430473327637,
                    "y": -0.08298131823539734,
                    "z": -0.05301278829574585
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.048537254333496,
                "transform": {
                    "location": {
                        "x": -70.69757843017578,
                        "y": 4301.38671875,
                        "z": 372.68218994140625
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": -0.2358054369688034,
                        "yaw": -0.3603820204734802
                    }
                },
                "velocity": {
                    "x": 8.048308372497559,
                    "y": -0.05073757469654083,
                    "z": -0.033371452242136
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030638694763184,
                "transform": {
                    "location": {
                        "x": -71.1792984008789,
                        "y": 4298.1396484375,
                        "z": 372.68499755859375
                    },
                    "rotation": {
                        "roll": -9.155279258266091e-05,
                        "pitch": -0.23818917572498322,
                        "yaw": -0.33062744140625
                    }
                },
                "velocity": {
                    "x": 8.030425071716309,
                    "y": -0.04838972166180611,
                    "z": -0.03307744115591049
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.580125331878662,
                "transform": {
                    "location": {
                        "x": -164.11436462402344,
                        "y": 4298.58935546875,
                        "z": 373.0450439453125
                    },
                    "rotation": {
                        "roll": -0.0013427736703306437,
                        "pitch": -0.165003702044487,
                        "yaw": -0.2287292331457138
                    }
                },
                "velocity": {
                    "x": 1.5800824165344238,
                    "y": 0.00742762116715312,
                    "z": -0.00897621177136898
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400323867797852,
                "transform": {
                    "location": {
                        "x": -119.62413787841797,
                        "y": 4301.67529296875,
                        "z": 372.8843994140625
                    },
                    "rotation": {
                        "roll": 0.0003563580976333469,
                        "pitch": -0.22646856307983398,
                        "yaw": -0.3501281440258026
                    }
                },
                "velocity": {
                    "x": 13.399972915649414,
                    "y": -0.0808585062623024,
                    "z": -0.05360746383666992
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.984557151794434,
                "transform": {
                    "location": {
                        "x": -116.69437408447266,
                        "y": 4294.95556640625,
                        "z": 372.8627624511719
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": 0.22382529079914093,
                        "yaw": 179.65187072753906
                    }
                },
                "velocity": {
                    "x": -7.9843430519104,
                    "y": 0.048543207347393036,
                    "z": 0.032569970935583115
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.102654457092285,
                "transform": {
                    "location": {
                        "x": -134.53085327148438,
                        "y": 4295.06103515625,
                        "z": 372.9393310546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2548685073852539,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": -8.10245418548584,
                    "y": 0.04781102389097214,
                    "z": 0.030902300029993057
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4786165952682495,
                "transform": {
                    "location": {
                        "x": -49.95030975341797,
                        "y": 4294.6572265625,
                        "z": 372.6150207519531
                    },
                    "rotation": {
                        "roll": -0.005462645087391138,
                        "pitch": 0.39547476172447205,
                        "yaw": 179.822021484375
                    }
                },
                "velocity": {
                    "x": -1.4775309562683105,
                    "y": -0.011933953501284122,
                    "z": -0.05538167804479599
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.899949550628662,
                "transform": {
                    "location": {
                        "x": -97.78851318359375,
                        "y": 4294.845703125,
                        "z": 372.7912292480469
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": 0.20147007703781128,
                        "yaw": 179.63710021972656
                    }
                },
                "velocity": {
                    "x": -6.899770736694336,
                    "y": 0.040266647934913635,
                    "z": 0.02919706329703331
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9146468639373779,
        "expert_target_speed": 3.59980363305558,
        "target_point": [
            51.643872925419736,
            3.78136433161439
        ],
        "target_point_next": [
            55.986584449040954,
            4.031071578011784
        ]
    },
    "375": {
        "acceleration": [
            -3.750743865966797,
            0.5472779273986816,
            0.044506266713142395
        ],
        "angular_velocity": [
            -0.09776878356933594,
            0.3641563355922699,
            -6.0817155838012695
        ],
        "forward_vector": [
            -0.9956339001655579,
            0.09282096475362778,
            0.009877044707536697
        ],
        "right_vector": [
            -0.09284048527479172,
            -0.9956797957420349,
            -0.0015365669969469309
        ],
        "location": [
            -110.40718841552734,
            4292.66845703125,
            372.84295654296875
        ],
        "rotation": [
            0.08804313093423843,
            0.5659221410751343,
            174.673828125
        ],
        "velocity": [
            -3.2702152729034424,
            0.4671064615249634,
            0.014343585819005966
        ],
        "speed": 3.303406783538671,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2276710718870163,
                "transform": {
                    "location": {
                        "x": -164.41867065429688,
                        "y": 4301.8388671875,
                        "z": 373.0172119140625
                    },
                    "rotation": {
                        "roll": -0.0001831055269576609,
                        "pitch": -0.19851261377334595,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0008257162990048528,
                    "y": 0.00016181351384148002,
                    "z": 0.22766952216625214
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.409900665283203,
                "transform": {
                    "location": {
                        "x": -105.59038543701172,
                        "y": 4298.34130859375,
                        "z": 372.8244323730469
                    },
                    "rotation": {
                        "roll": -6.1035087128402665e-05,
                        "pitch": -0.22954899072647095,
                        "yaw": -0.347015380859375
                    }
                },
                "velocity": {
                    "x": 13.409552574157715,
                    "y": -0.08132771402597427,
                    "z": -0.052317846566438675
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085702896118164,
                "transform": {
                    "location": {
                        "x": -68.6805419921875,
                        "y": 4301.375,
                        "z": 372.67388916015625
                    },
                    "rotation": {
                        "roll": 0.0008710894617252052,
                        "pitch": -0.23574396967887878,
                        "yaw": -0.3581847548484802
                    }
                },
                "velocity": {
                    "x": 8.085477828979492,
                    "y": -0.050510212779045105,
                    "z": -0.03292953968048096
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029197692871094,
                "transform": {
                    "location": {
                        "x": -69.1714859008789,
                        "y": 4298.1279296875,
                        "z": 372.6767578125
                    },
                    "rotation": {
                        "roll": 0.0016506774118170142,
                        "pitch": -0.23857849836349487,
                        "yaw": -0.3669127821922302
                    }
                },
                "velocity": {
                    "x": 8.02896785736084,
                    "y": -0.05104559659957886,
                    "z": -0.032906707376241684
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.091536045074463,
                "transform": {
                    "location": {
                        "x": -163.6512451171875,
                        "y": 4298.59033203125,
                        "z": 373.0429992675781
                    },
                    "rotation": {
                        "roll": -0.0013732908992096782,
                        "pitch": -0.17733901739120483,
                        "yaw": -0.1259765475988388
                    }
                },
                "velocity": {
                    "x": 2.0914909839630127,
                    "y": 0.010683204978704453,
                    "z": -0.00866569485515356
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400196075439453,
                "transform": {
                    "location": {
                        "x": -116.27452850341797,
                        "y": 4301.6552734375,
                        "z": 372.8711242675781
                    },
                    "rotation": {
                        "roll": 0.0012261866359040141,
                        "pitch": -0.22599045932292938,
                        "yaw": -0.3483581244945526
                    }
                },
                "velocity": {
                    "x": 13.3998384475708,
                    "y": -0.08218705654144287,
                    "z": -0.053206365555524826
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0728178024292,
                "transform": {
                    "location": {
                        "x": -118.69874572753906,
                        "y": 4294.96728515625,
                        "z": 372.87060546875
                    },
                    "rotation": {
                        "roll": 0.00024447290343232453,
                        "pitch": 0.22801218926906586,
                        "yaw": 179.6516571044922
                    }
                },
                "velocity": {
                    "x": -8.072600364685059,
                    "y": 0.049033742398023605,
                    "z": 0.033201444894075394
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.041768074035645,
                "transform": {
                    "location": {
                        "x": -136.5595245361328,
                        "y": 4295.07275390625,
                        "z": 372.9471740722656
                    },
                    "rotation": {
                        "roll": -0.0016479489859193563,
                        "pitch": 0.24134472012519836,
                        "yaw": 179.6542510986328
                    }
                },
                "velocity": {
                    "x": -8.041571617126465,
                    "y": 0.04754114896059036,
                    "z": 0.02987293154001236
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.746257781982422,
                "transform": {
                    "location": {
                        "x": -50.46999740600586,
                        "y": 4294.65380859375,
                        "z": 372.6041259765625
                    },
                    "rotation": {
                        "roll": -0.008361817337572575,
                        "pitch": 0.5164101123809814,
                        "yaw": 179.978759765625
                    }
                },
                "velocity": {
                    "x": -2.746112585067749,
                    "y": -0.02536245808005333,
                    "z": -0.012429590336978436
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.414455890655518,
                "transform": {
                    "location": {
                        "x": -99.56148529052734,
                        "y": 4294.85546875,
                        "z": 372.79815673828125
                    },
                    "rotation": {
                        "roll": -0.0007934568566270173,
                        "pitch": 0.24154962599277496,
                        "yaw": 179.61636352539062
                    }
                },
                "velocity": {
                    "x": -7.414266586303711,
                    "y": 0.044130533933639526,
                    "z": 0.029269808903336525
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9845723509788513,
        "expert_target_speed": 4.456200493176004,
        "target_point": [
            50.79223116388957,
            5.335486069628203
        ],
        "target_point_next": [
            55.12566051785237,
            5.713490197263607
        ]
    },
    "380": {
        "acceleration": [
            -3.7989139556884766,
            1.2518858909606934,
            0.011932551860809326
        ],
        "angular_velocity": [
            0.35089990496635437,
            0.14635507762432098,
            -8.572660446166992
        ],
        "forward_vector": [
            -0.9921119809150696,
            0.12485057860612869,
            0.011232496239244938
        ],
        "right_vector": [
            -0.12488958984613419,
            -0.9921665787696838,
            -0.002839091932401061
        ],
        "location": [
            -111.3539047241211,
            4292.8134765625,
            372.8464660644531
        ],
        "rotation": [
            0.16267846524715424,
            0.6435881853103638,
            172.82742309570312
        ],
        "velocity": [
            -4.250190258026123,
            0.7494356632232666,
            0.015991153195500374
        ],
        "speed": 4.31575845509582,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4058760106563568,
                "transform": {
                    "location": {
                        "x": -164.4120330810547,
                        "y": 4301.8388671875,
                        "z": 373.0466003417969
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.19515898823738098,
                        "yaw": -0.3370971381664276
                    }
                },
                "velocity": {
                    "x": 0.40440672636032104,
                    "y": 0.0010915384627878666,
                    "z": 0.03448694199323654
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.416882514953613,
                "transform": {
                    "location": {
                        "x": -102.23780822753906,
                        "y": 4298.32177734375,
                        "z": 372.8110046386719
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.3447265028953552
                    }
                },
                "velocity": {
                    "x": 13.416532516479492,
                    "y": -0.08090823888778687,
                    "z": -0.05327511578798294
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05109691619873,
                "transform": {
                    "location": {
                        "x": -66.66327667236328,
                        "y": 4301.36279296875,
                        "z": 372.66558837890625
                    },
                    "rotation": {
                        "roll": -0.00030517581035383046,
                        "pitch": -0.23624257743358612,
                        "yaw": -0.3577575385570526
                    }
                },
                "velocity": {
                    "x": 8.050873756408691,
                    "y": -0.05033859238028526,
                    "z": -0.032565489411354065
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029989242553711,
                "transform": {
                    "location": {
                        "x": -67.1636734008789,
                        "y": 4298.1162109375,
                        "z": 372.6684265136719
                    },
                    "rotation": {
                        "roll": 0.0016226039733737707,
                        "pitch": -0.2386741191148758,
                        "yaw": -0.343353271484375
                    }
                },
                "velocity": {
                    "x": 8.029763221740723,
                    "y": -0.05022701248526573,
                    "z": -0.03325873240828514
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.651956796646118,
                "transform": {
                    "location": {
                        "x": -163.05609130859375,
                        "y": 4298.5927734375,
                        "z": 373.0408935546875
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": -0.17996181547641754,
                        "yaw": 0.0018703186651691794
                    }
                },
                "velocity": {
                    "x": 2.651895046234131,
                    "y": 0.014864356257021427,
                    "z": -0.010321197099983692
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400152206420898,
                "transform": {
                    "location": {
                        "x": -112.92491912841797,
                        "y": 4301.6337890625,
                        "z": 372.85791015625
                    },
                    "rotation": {
                        "roll": 0.0016659550601616502,
                        "pitch": -0.22631829977035522,
                        "yaw": -0.3560790717601776
                    }
                },
                "velocity": {
                    "x": 13.399795532226562,
                    "y": -0.08227840065956116,
                    "z": -0.05265901982784271
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.032295227050781,
                "transform": {
                    "location": {
                        "x": -120.71437072753906,
                        "y": 4294.9794921875,
                        "z": 372.878662109375
                    },
                    "rotation": {
                        "roll": 0.00010256948735332116,
                        "pitch": 0.22851762175559998,
                        "yaw": 179.6558837890625
                    }
                },
                "velocity": {
                    "x": -8.032083511352539,
                    "y": 0.048241693526506424,
                    "z": 0.032685499638319016
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.868044376373291,
                "transform": {
                    "location": {
                        "x": -138.54647827148438,
                        "y": 4295.08447265625,
                        "z": 372.95501708984375
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": 0.17770785093307495,
                        "yaw": 179.65554809570312
                    }
                },
                "velocity": {
                    "x": -7.867845058441162,
                    "y": 0.04737110435962677,
                    "z": 0.029932336881756783
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.710989952087402,
                "transform": {
                    "location": {
                        "x": -51.397186279296875,
                        "y": 4294.6484375,
                        "z": 372.6060485839844
                    },
                    "rotation": {
                        "roll": 0.010022606700658798,
                        "pitch": 0.6827593445777893,
                        "yaw": -179.8707733154297
                    }
                },
                "velocity": {
                    "x": -4.7108893394470215,
                    "y": -0.012791783548891544,
                    "z": 0.028019675984978676
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.250751495361328,
                "transform": {
                    "location": {
                        "x": -101.50296783447266,
                        "y": 4294.8671875,
                        "z": 372.80584716796875
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.25240278244018555,
                        "yaw": 179.61875915527344
                    }
                },
                "velocity": {
                    "x": -8.25054931640625,
                    "y": 0.048343390226364136,
                    "z": 0.031655073165893555
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9315891861915588,
        "expert_target_speed": 5.424431589224306,
        "target_point": [
            49.63653223400843,
            6.994946611164212
        ],
        "target_point_next": [
            53.95553211984734,
            7.512379768605183
        ]
    },
    "385": {
        "acceleration": [
            -3.2936954498291016,
            1.1773431301116943,
            -0.03617744892835617
        ],
        "angular_velocity": [
            -0.040246687829494476,
            -0.11485730856657028,
            -8.455324172973633
        ],
        "forward_vector": [
            -0.9867317080497742,
            0.16194698214530945,
            0.011565903201699257
        ],
        "right_vector": [
            -0.16199585795402527,
            -0.9867855310440063,
            -0.003415459766983986
        ],
        "location": [
            -112.53976440429688,
            4293.033203125,
            372.8513488769531
        ],
        "rotation": [
            0.19570490717887878,
            0.6626922488212585,
            170.679443359375
        ],
        "velocity": [
            -5.1666131019592285,
            1.0532329082489014,
            0.021355723962187767
        ],
        "speed": 5.27287307872617,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.460172176361084,
                "transform": {
                    "location": {
                        "x": -163.98304748535156,
                        "y": 4301.83935546875,
                        "z": 373.046630859375
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": -0.1560356616973877,
                        "yaw": -0.2518309950828552
                    }
                },
                "velocity": {
                    "x": 2.4601173400878906,
                    "y": 0.011720552109181881,
                    "z": -0.011508559808135033
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.40998363494873,
                "transform": {
                    "location": {
                        "x": -98.88530731201172,
                        "y": 4298.30224609375,
                        "z": 372.7974853515625
                    },
                    "rotation": {
                        "roll": 0.0002777073241304606,
                        "pitch": -0.2320556640625,
                        "yaw": -0.34466552734375
                    }
                },
                "velocity": {
                    "x": 13.409634590148926,
                    "y": -0.08071713894605637,
                    "z": -0.053333986550569534
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083500862121582,
                "transform": {
                    "location": {
                        "x": -64.646484375,
                        "y": 4301.3515625,
                        "z": 372.6572570800781
                    },
                    "rotation": {
                        "roll": 2.7345166017767042e-05,
                        "pitch": -0.23592838644981384,
                        "yaw": -0.3582457900047302
                    }
                },
                "velocity": {
                    "x": 8.083272933959961,
                    "y": -0.05055539309978485,
                    "z": -0.033441778272390366
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028644561767578,
                "transform": {
                    "location": {
                        "x": -65.1558609008789,
                        "y": 4298.1044921875,
                        "z": 372.6601867675781
                    },
                    "rotation": {
                        "roll": 0.0004987498978152871,
                        "pitch": -0.2392888367176056,
                        "yaw": -0.3697509765625
                    }
                },
                "velocity": {
                    "x": 8.028419494628906,
                    "y": -0.05018250644207001,
                    "z": -0.033185925334692
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.231881618499756,
                "transform": {
                    "location": {
                        "x": -162.31991577148438,
                        "y": 4298.595703125,
                        "z": 373.03826904296875
                    },
                    "rotation": {
                        "roll": -0.0028686521109193563,
                        "pitch": -0.17852747440338135,
                        "yaw": 0.11830159276723862
                    }
                },
                "velocity": {
                    "x": 3.231809616088867,
                    "y": 0.019028648734092712,
                    "z": -0.010161647573113441
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400205612182617,
                "transform": {
                    "location": {
                        "x": -109.57538604736328,
                        "y": 4301.6142578125,
                        "z": 372.8446044921875
                    },
                    "rotation": {
                        "roll": -0.0010986325796693563,
                        "pitch": -0.2282034307718277,
                        "yaw": -0.3369445502758026
                    }
                },
                "velocity": {
                    "x": 13.399859428405762,
                    "y": -0.08011800795793533,
                    "z": -0.053374312818050385
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057719230651855,
                "transform": {
                    "location": {
                        "x": -122.72429656982422,
                        "y": 4294.99072265625,
                        "z": 372.8865661621094
                    },
                    "rotation": {
                        "roll": -0.0006408690824173391,
                        "pitch": 0.2250957041978836,
                        "yaw": 179.66024780273438
                    }
                },
                "velocity": {
                    "x": -8.057511329650879,
                    "y": 0.04773084446787834,
                    "z": 0.03270489722490311
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.560173988342285,
                "transform": {
                    "location": {
                        "x": -140.47508239746094,
                        "y": 4295.09619140625,
                        "z": 372.9625549316406
                    },
                    "rotation": {
                        "roll": 0.0004885263624601066,
                        "pitch": 0.12685026228427887,
                        "yaw": 179.6522216796875
                    }
                },
                "velocity": {
                    "x": -7.559978485107422,
                    "y": 0.045979779213666916,
                    "z": 0.029059266671538353
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.886203765869141,
                "transform": {
                    "location": {
                        "x": -52.71476364135742,
                        "y": 4294.64501953125,
                        "z": 372.614990234375
                    },
                    "rotation": {
                        "roll": 0.00886472500860691,
                        "pitch": 0.5322288274765015,
                        "yaw": -179.86944580078125
                    }
                },
                "velocity": {
                    "x": -5.886116027832031,
                    "y": -0.013215398415923119,
                    "z": 0.029249658808112144
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.061986923217773,
                "transform": {
                    "location": {
                        "x": -103.73835754394531,
                        "y": 4294.88037109375,
                        "z": 372.8147277832031
                    },
                    "rotation": {
                        "roll": 3.905074663634878e-06,
                        "pitch": 0.25967010855674744,
                        "yaw": 179.60409545898438
                    }
                },
                "velocity": {
                    "x": -9.061745643615723,
                    "y": 0.054549768567085266,
                    "z": 0.037229184061288834
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.6710537672042847,
        "expert_target_speed": 0,
        "target_point": [
            48.13369451746493,
            8.87518367717758
        ],
        "target_point_next": [
            52.43026627758582,
            9.554130064182868
        ]
    },
    "390": {
        "acceleration": [
            0.09951591491699219,
            0.14943838119506836,
            0.004214085638523102
        ],
        "angular_velocity": [
            -0.4419552683830261,
            -0.6985388994216919,
            -4.741586208343506
        ],
        "forward_vector": [
            -0.9815748929977417,
            0.1909533143043518,
            0.006893579848110676
        ],
        "right_vector": [
            -0.19097043573856354,
            -0.9815939664840698,
            -0.0019109146669507027
        ],
        "location": [
            -113.80882263183594,
            4293.29443359375,
            372.8572998046875
        ],
        "rotation": [
            0.10949001461267471,
            0.3949761688709259,
            168.99131774902344
        ],
        "velocity": [
            -5.064009189605713,
            1.0962668657302856,
            0.020828770473599434
        ],
        "speed": 5.181311620942058,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.335676431655884,
                "transform": {
                    "location": {
                        "x": -163.24913024902344,
                        "y": 4301.84228515625,
                        "z": 373.0436096191406
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": -0.17355509102344513,
                        "yaw": -0.0957031175494194
                    }
                },
                "velocity": {
                    "x": 3.335602283477783,
                    "y": 0.017427708953619003,
                    "z": -0.013803014531731606
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.416994094848633,
                "transform": {
                    "location": {
                        "x": -95.53273010253906,
                        "y": 4298.2822265625,
                        "z": 372.783935546875
                    },
                    "rotation": {
                        "roll": 0.0004543396062217653,
                        "pitch": -0.2320556640625,
                        "yaw": -0.3446960747241974
                    }
                },
                "velocity": {
                    "x": 13.416644096374512,
                    "y": -0.08068030327558517,
                    "z": -0.053640030324459076
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051926612854004,
                "transform": {
                    "location": {
                        "x": -62.62937545776367,
                        "y": 4301.33984375,
                        "z": 372.64892578125
                    },
                    "rotation": {
                        "roll": -0.00012207034160383046,
                        "pitch": -0.237034872174263,
                        "yaw": -0.3581542670726776
                    }
                },
                "velocity": {
                    "x": 8.051700592041016,
                    "y": -0.050350621342659,
                    "z": -0.03337739035487175
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031525611877441,
                "transform": {
                    "location": {
                        "x": -63.14804458618164,
                        "y": 4298.0927734375,
                        "z": 372.65191650390625
                    },
                    "rotation": {
                        "roll": -0.00036621085018850863,
                        "pitch": -0.23797744512557983,
                        "yaw": -0.34088134765625
                    }
                },
                "velocity": {
                    "x": 8.0313081741333,
                    "y": -0.04862219840288162,
                    "z": -0.03366336226463318
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.9951751232147217,
                "transform": {
                    "location": {
                        "x": -161.4169464111328,
                        "y": 4298.60009765625,
                        "z": 373.03521728515625
                    },
                    "rotation": {
                        "roll": -0.0038146970327943563,
                        "pitch": -0.17364388704299927,
                        "yaw": 0.21752579510211945
                    }
                },
                "velocity": {
                    "x": 3.995070695877075,
                    "y": 0.024975363165140152,
                    "z": -0.014553727582097054
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400219917297363,
                "transform": {
                    "location": {
                        "x": -106.22577667236328,
                        "y": 4301.5947265625,
                        "z": 372.8312072753906
                    },
                    "rotation": {
                        "roll": 0.0002766320831142366,
                        "pitch": -0.2286405712366104,
                        "yaw": -0.3439636528491974
                    }
                },
                "velocity": {
                    "x": 13.399881362915039,
                    "y": -0.07949946820735931,
                    "z": -0.052538998425006866
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.027095794677734,
                "transform": {
                    "location": {
                        "x": -124.73460388183594,
                        "y": 4295.00244140625,
                        "z": 372.8944091796875
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.22643442451953888,
                        "yaw": 179.66091918945312
                    }
                },
                "velocity": {
                    "x": -8.026887893676758,
                    "y": 0.047497671097517014,
                    "z": 0.032790448516607285
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.303121089935303,
                "transform": {
                    "location": {
                        "x": -142.32937622070312,
                        "y": 4295.10791015625,
                        "z": 372.9696350097656
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": 0.1034773588180542,
                        "yaw": 179.65147399902344
                    }
                },
                "velocity": {
                    "x": -7.302928924560547,
                    "y": 0.044456906616687775,
                    "z": 0.028832120820879936
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.35750675201416,
                "transform": {
                    "location": {
                        "x": -54.3459358215332,
                        "y": 4294.64111328125,
                        "z": 372.6217346191406
                    },
                    "rotation": {
                        "roll": 0.0005114477826282382,
                        "pitch": 0.5478289723396301,
                        "yaw": -179.84535217285156
                    }
                },
                "velocity": {
                    "x": -7.35742712020874,
                    "y": -0.016919473186135292,
                    "z": 0.029815873131155968
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.8353047370910645,
                "transform": {
                    "location": {
                        "x": -105.85687255859375,
                        "y": 4294.8935546875,
                        "z": 372.82373046875
                    },
                    "rotation": {
                        "roll": -0.0009460446308366954,
                        "pitch": 0.20017234981060028,
                        "yaw": 179.6584930419922
                    }
                },
                "velocity": {
                    "x": -7.835103988647461,
                    "y": 0.04601040855050087,
                    "z": 0.03211205452680588
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.4026973247528076,
        "expert_target_speed": 0,
        "target_point": [
            46.55576033842518,
            10.303391183694963
        ],
        "target_point_next": [
            50.830466236553285,
            11.10861573051695
        ]
    },
    "395": {
        "acceleration": [
            -3.2804489135742188,
            0.7481503486633301,
            0.026007071137428284
        ],
        "angular_velocity": [
            -0.057051192969083786,
            0.5160973072052002,
            -5.342620372772217
        ],
        "forward_vector": [
            -0.9782924652099609,
            0.20692092180252075,
            0.011292217299342155
        ],
        "right_vector": [
            -0.2069440484046936,
            -0.9783523082733154,
            -0.000906957546249032
        ],
        "location": [
            -115.23585510253906,
            4293.603515625,
            372.8620300292969
        ],
        "rotation": [
            0.05196816101670265,
            0.6470101475715637,
            168.0572509765625
        ],
        "velocity": [
            -6.3642706871032715,
            1.4056823253631592,
            0.025324534624814987
        ],
        "speed": 6.517659409524275,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 11.597434997558594,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -126.74710845947266,
                4295.01416015625,
                372.90234375
            ],
            "velocity": [
                -8.06997013092041,
                0.047838304191827774,
                0.03244008123874664
            ],
            "speed_kmh": 29.052637638244065,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.080563068389893,
                "transform": {
                    "location": {
                        "x": -162.31796264648438,
                        "y": 4301.84619140625,
                        "z": 373.0402526855469
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": -0.17947687208652496,
                        "yaw": 0.07268933206796646
                    }
                },
                "velocity": {
                    "x": 4.080472469329834,
                    "y": 0.023463726043701172,
                    "z": -0.013742332346737385
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.410076141357422,
                "transform": {
                    "location": {
                        "x": -92.18022918701172,
                        "y": 4298.26318359375,
                        "z": 372.7702941894531
                    },
                    "rotation": {
                        "roll": 0.0010413939598947763,
                        "pitch": -0.23291626572608948,
                        "yaw": -0.3446960151195526
                    }
                },
                "velocity": {
                    "x": 13.409727096557617,
                    "y": -0.08064887672662735,
                    "z": -0.053430717438459396
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.082956314086914,
                "transform": {
                    "location": {
                        "x": -60.612342834472656,
                        "y": 4301.328125,
                        "z": 372.640625
                    },
                    "rotation": {
                        "roll": 0.0008140560239553452,
                        "pitch": -0.23663188517093658,
                        "yaw": -0.358123779296875
                    }
                },
                "velocity": {
                    "x": 8.082730293273926,
                    "y": -0.050537653267383575,
                    "z": -0.033093299716711044
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028541564941406,
                "transform": {
                    "location": {
                        "x": -61.14023208618164,
                        "y": 4298.0810546875,
                        "z": 372.6435852050781
                    },
                    "rotation": {
                        "roll": 0.0017381595680490136,
                        "pitch": -0.2404772937297821,
                        "yaw": -0.3716735541820526
                    }
                },
                "velocity": {
                    "x": 8.028310775756836,
                    "y": -0.05126192048192024,
                    "z": -0.0329725407063961
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.940793514251709,
                "transform": {
                    "location": {
                        "x": -160.2985076904297,
                        "y": 4298.60546875,
                        "z": 373.0312805175781
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": -0.16684101521968842,
                        "yaw": 0.24904760718345642
                    }
                },
                "velocity": {
                    "x": 4.940756320953369,
                    "y": 0.009774310514330864,
                    "z": -0.01646830514073372
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400226593017578,
                "transform": {
                    "location": {
                        "x": -102.87616729736328,
                        "y": 4301.57470703125,
                        "z": 372.81781005859375
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": -0.229125514626503,
                        "yaw": -0.330841064453125
                    }
                },
                "velocity": {
                    "x": 13.39988899230957,
                    "y": -0.07849337160587311,
                    "z": -0.05366092920303345
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07017707824707,
                "transform": {
                    "location": {
                        "x": -126.74710845947266,
                        "y": 4295.01416015625,
                        "z": 372.90234375
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22595630586147308,
                        "yaw": 179.660888671875
                    }
                },
                "velocity": {
                    "x": -8.06997013092041,
                    "y": 0.047838304191827774,
                    "z": 0.03244008123874664
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.063535690307617,
                "transform": {
                    "location": {
                        "x": -144.12437438964844,
                        "y": 4295.11962890625,
                        "z": 372.9764404296875
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": 0.11235660314559937,
                        "yaw": 179.651123046875
                    }
                },
                "velocity": {
                    "x": -7.0633544921875,
                    "y": 0.04302588477730751,
                    "z": 0.02672705613076687
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.610064506530762,
                "transform": {
                    "location": {
                        "x": -56.28835678100586,
                        "y": 4294.63671875,
                        "z": 372.6295166015625
                    },
                    "rotation": {
                        "roll": 0.0072946492582559586,
                        "pitch": 0.5514899492263794,
                        "yaw": -179.88677978515625
                    }
                },
                "velocity": {
                    "x": -8.60999584197998,
                    "y": -0.005592708010226488,
                    "z": 0.03398129343986511
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.826087474822998,
                "transform": {
                    "location": {
                        "x": -107.61741638183594,
                        "y": 4294.9033203125,
                        "z": 372.8310546875
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.1725715547800064,
                        "yaw": 179.60267639160156
                    }
                },
                "velocity": {
                    "x": -5.825936794281006,
                    "y": 0.0345662459731102,
                    "z": 0.023712702095508575
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.15135341882705688,
        "expert_target_speed": 0,
        "target_point": [
            44.921505540677096,
            11.06805845035058
        ],
        "target_point_next": [
            49.18251673727775,
            11.94286166750272
        ]
    },
    "400": {
        "acceleration": [
            -3.173656463623047,
            0.8069062232971191,
            0.01729775220155716
        ],
        "angular_velocity": [
            -0.2312161922454834,
            -0.11559965461492538,
            0.9186608195304871
        ],
        "forward_vector": [
            -0.9763917922973633,
            0.21572349965572357,
            0.01106263417750597
        ],
        "right_vector": [
            -0.2157408595085144,
            -0.9764506220817566,
            -0.00038679823046550155
        ],
        "location": [
            -116.93077850341797,
            4293.98046875,
            372.8688049316406
        ],
        "rotation": [
            0.022163264453411102,
            0.6338551640510559,
            167.54124450683594
        ],
        "velocity": [
            -7.157992839813232,
            1.6165010929107666,
            0.02726748399436474
        ],
        "speed": 7.338251649963989,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 11.862059593200684,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -128.74656677246094,
                4295.0263671875,
                372.91021728515625
            ],
            "velocity": [
                -7.864449501037598,
                0.047525692731142044,
                0.03196508437395096
            ],
            "speed_kmh": 28.31276901868608,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.842626094818115,
                "transform": {
                    "location": {
                        "x": -161.19984436035156,
                        "y": 4301.8515625,
                        "z": 373.0364685058594
                    },
                    "rotation": {
                        "roll": -0.0015563962515443563,
                        "pitch": -0.1803852915763855,
                        "yaw": 0.20948101580142975
                    }
                },
                "velocity": {
                    "x": 4.842504024505615,
                    "y": 0.030345648527145386,
                    "z": -0.01614944450557232
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.220880508422852,
                "transform": {
                    "location": {
                        "x": -88.83476257324219,
                        "y": 4298.24365234375,
                        "z": 372.7567138671875
                    },
                    "rotation": {
                        "roll": -0.0004272462101653218,
                        "pitch": -0.23837359249591827,
                        "yaw": -0.3491515815258026
                    }
                },
                "velocity": {
                    "x": 13.220528602600098,
                    "y": -0.08046198636293411,
                    "z": -0.05309629812836647
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051074981689453,
                "transform": {
                    "location": {
                        "x": -58.5959358215332,
                        "y": 4301.31591796875,
                        "z": 372.63226318359375
                    },
                    "rotation": {
                        "roll": 0.0007938164053484797,
                        "pitch": -0.237034872174263,
                        "yaw": -0.3580321967601776
                    }
                },
                "velocity": {
                    "x": 8.050850868225098,
                    "y": -0.05029955878853798,
                    "z": -0.032740507274866104
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02957534790039,
                "transform": {
                    "location": {
                        "x": -59.13241958618164,
                        "y": 4298.06884765625,
                        "z": 372.63525390625
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": -0.23943910002708435,
                        "yaw": -0.3448180854320526
                    }
                },
                "velocity": {
                    "x": 8.029349327087402,
                    "y": -0.05003229156136513,
                    "z": -0.033444084227085114
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.418780326843262,
                "transform": {
                    "location": {
                        "x": -158.98031616210938,
                        "y": 4298.609375,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": -3.051757266803179e-05,
                        "pitch": -0.17923098802566528,
                        "yaw": -9.155272709904239e-05
                    }
                },
                "velocity": {
                    "x": 5.418747901916504,
                    "y": 0.003170800395309925,
                    "z": -0.018489865586161613
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400256156921387,
                "transform": {
                    "location": {
                        "x": -99.52655792236328,
                        "y": 4301.5556640625,
                        "z": 372.8043212890625
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": -0.23141363263130188,
                        "yaw": -0.338104248046875
                    }
                },
                "velocity": {
                    "x": 13.399920463562012,
                    "y": -0.07817865163087845,
                    "z": -0.05371202528476715
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.864658355712891,
                "transform": {
                    "location": {
                        "x": -128.74656677246094,
                        "y": 4295.0263671875,
                        "z": 372.91021728515625
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": 0.21631890535354614,
                        "yaw": 179.65574645996094
                    }
                },
                "velocity": {
                    "x": -7.864449501037598,
                    "y": 0.047525692731142044,
                    "z": 0.03196508437395096
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.825474262237549,
                "transform": {
                    "location": {
                        "x": -145.85968017578125,
                        "y": 4295.12939453125,
                        "z": 372.98291015625
                    },
                    "rotation": {
                        "roll": -0.002105712890625,
                        "pitch": 0.10871611535549164,
                        "yaw": 179.66265869140625
                    }
                },
                "velocity": {
                    "x": -6.825315475463867,
                    "y": 0.03900395706295967,
                    "z": 0.025459231808781624
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.625091552734375,
                "transform": {
                    "location": {
                        "x": -58.61070251464844,
                        "y": 4294.63720703125,
                        "z": 372.6388854980469
                    },
                    "rotation": {
                        "roll": 0.018663860857486725,
                        "pitch": 0.5533067584037781,
                        "yaw": 179.9550323486328
                    }
                },
                "velocity": {
                    "x": -9.624998092651367,
                    "y": 0.014597984962165356,
                    "z": 0.03994181379675865
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.29168233275413513,
                "transform": {
                    "location": {
                        "x": -108.3578872680664,
                        "y": 4294.90673828125,
                        "z": 372.8347473144531
                    },
                    "rotation": {
                        "roll": 0.0013632570626214147,
                        "pitch": 0.06604109704494476,
                        "yaw": 179.2864990234375
                    }
                },
                "velocity": {
                    "x": -0.2915901839733124,
                    "y": 0.0072043356485664845,
                    "z": 0.0013603115221485496
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07135467976331711,
        "expert_target_speed": 8.061167278980939,
        "target_point": [
            43.083672705165974,
            11.474588235247161
        ],
        "target_point_next": [
            47.33663270916312,
            12.387730223492348
        ]
    },
    "405": {
        "acceleration": [
            -3.1855201721191406,
            0.8302736282348633,
            0.0063965097069740295
        ],
        "angular_velocity": [
            -0.024564040824770927,
            -0.0484553687274456,
            -3.493046522140503
        ],
        "forward_vector": [
            -0.9750422835350037,
            0.22176231443881989,
            0.010682736523449421
        ],
        "right_vector": [
            -0.22177626192569733,
            -0.9750975966453552,
            -0.00012444460298866034
        ],
        "location": [
            -118.82359313964844,
            4294.41064453125,
            372.87640380859375
        ],
        "rotation": [
            0.007130557205528021,
            0.6120873689651489,
            167.1866912841797
        ],
        "velocity": [
            -7.951444625854492,
            1.8269203901290894,
            0.030226459726691246
        ],
        "speed": 8.158621804563545,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 11.920394897460938,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -130.7274169921875,
                4295.03759765625,
                372.91796875
            ],
            "velocity": [
                -7.948106288909912,
                0.048498108983039856,
                0.03076988086104393
            ],
            "speed_kmh": 28.61392971820025,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.35819149017334,
                "transform": {
                    "location": {
                        "x": -159.9128875732422,
                        "y": 4301.85693359375,
                        "z": 373.0323486328125
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": -0.18593822419643402,
                        "yaw": 0.21627959609031677
                    }
                },
                "velocity": {
                    "x": 5.358150959014893,
                    "y": 0.009301586076617241,
                    "z": -0.018651360645890236
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.022566795349121,
                "transform": {
                    "location": {
                        "x": -85.69234466552734,
                        "y": 4298.22412109375,
                        "z": 372.7440185546875
                    },
                    "rotation": {
                        "roll": -0.0010070798452943563,
                        "pitch": -0.2593422830104828,
                        "yaw": -0.3534850776195526
                    }
                },
                "velocity": {
                    "x": 12.022238731384277,
                    "y": -0.07404165714979172,
                    "z": -0.04914788156747818
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08403491973877,
                "transform": {
                    "location": {
                        "x": -56.57843780517578,
                        "y": 4301.3046875,
                        "z": 372.6239013671875
                    },
                    "rotation": {
                        "roll": 0.0004893533186987042,
                        "pitch": -0.23721246421337128,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 8.083806991577148,
                    "y": -0.05051731318235397,
                    "z": -0.03361976519227028
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030101776123047,
                "transform": {
                    "location": {
                        "x": -57.12460708618164,
                        "y": 4298.05712890625,
                        "z": 372.6269836425781
                    },
                    "rotation": {
                        "roll": -0.0002441406832076609,
                        "pitch": -0.2392888367176056,
                        "yaw": -0.37051382660865784
                    }
                },
                "velocity": {
                    "x": 8.029875755310059,
                    "y": -0.050074201077222824,
                    "z": -0.03337212651968002
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.220055103302002,
                "transform": {
                    "location": {
                        "x": -157.536865234375,
                        "y": 4298.6103515625,
                        "z": 373.0218200683594
                    },
                    "rotation": {
                        "roll": 0.0009720687521621585,
                        "pitch": -0.1793266087770462,
                        "yaw": -0.1280212253332138
                    }
                },
                "velocity": {
                    "x": 6.220016956329346,
                    "y": -0.0025991478469222784,
                    "z": -0.02153157629072666
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.40028190612793,
                "transform": {
                    "location": {
                        "x": -96.17694854736328,
                        "y": 4301.5361328125,
                        "z": 372.7907409667969
                    },
                    "rotation": {
                        "roll": 9.9601449619513e-05,
                        "pitch": -0.23135215044021606,
                        "yaw": -0.3307189643383026
                    }
                },
                "velocity": {
                    "x": 13.399946212768555,
                    "y": -0.07826314866542816,
                    "z": -0.05367350950837135
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.9483137130737305,
                "transform": {
                    "location": {
                        "x": -130.7274169921875,
                        "y": 4295.03759765625,
                        "z": 372.91796875
                    },
                    "rotation": {
                        "roll": 5.328779297997244e-05,
                        "pitch": 0.2270423024892807,
                        "yaw": 179.65000915527344
                    }
                },
                "velocity": {
                    "x": -7.948106288909912,
                    "y": 0.048498108983039856,
                    "z": 0.03076988086104393
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.574554443359375,
                "transform": {
                    "location": {
                        "x": -147.53233337402344,
                        "y": 4295.13916015625,
                        "z": 372.9890441894531
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.11076517403125763,
                        "yaw": 179.6648712158203
                    }
                },
                "velocity": {
                    "x": -6.574394226074219,
                    "y": 0.038474880158901215,
                    "z": 0.024997977539896965
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.691529273986816,
                "transform": {
                    "location": {
                        "x": -61.14585876464844,
                        "y": 4294.6416015625,
                        "z": 372.6502990722656
                    },
                    "rotation": {
                        "roll": 0.009049315936863422,
                        "pitch": 0.44939911365509033,
                        "yaw": 179.856689453125
                    }
                },
                "velocity": {
                    "x": -10.691404342651367,
                    "y": 0.02680630423128605,
                    "z": 0.04406844079494476
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0015954880509525537,
                "transform": {
                    "location": {
                        "x": -108.3602294921875,
                        "y": 4294.90673828125,
                        "z": 372.8338317871094
                    },
                    "rotation": {
                        "roll": -0.0013122553937137127,
                        "pitch": 0.17572027444839478,
                        "yaw": 179.28086853027344
                    }
                },
                "velocity": {
                    "x": 0.0001781609607860446,
                    "y": 1.3175292679079575e-06,
                    "z": 0.0015855090459808707
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10805507004261017,
        "expert_target_speed": 8.687607315164106,
        "target_point": [
            41.07076278395706,
            11.740650813472001
        ],
        "target_point_next": [
            45.31799095497355,
            12.68009210999869
        ]
    },
    "410": {
        "acceleration": [
            -3.2683181762695312,
            -1.781468391418457,
            0.0012506544589996338
        ],
        "angular_velocity": [
            -2.0968127250671387,
            0.3357977569103241,
            11.785746574401855
        ],
        "forward_vector": [
            -0.9779554009437561,
            0.20855465531349182,
            0.0104057090356946
        ],
        "right_vector": [
            -0.20851369202136993,
            -0.9780071973800659,
            0.004889278206974268
        ],
        "location": [
            -120.91812133789062,
            4294.86669921875,
            372.88470458984375
        ],
        "rotation": [
            -0.28015127778053284,
            0.5962139964103699,
            167.961669921875
        ],
        "velocity": [
            -8.773541450500488,
            1.7042276859283447,
            0.0336679071187973
        ],
        "speed": 8.937528830114893,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 11.650788307189941,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -132.56741333007812,
                4295.048828125,
                372.9256286621094
            ],
            "velocity": [
                -6.692233562469482,
                0.04085943102836609,
                0.02595004066824913
            ],
            "speed_kmh": 24.09267098232479,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.910582065582275,
                "transform": {
                    "location": {
                        "x": -158.47000122070312,
                        "y": 4301.859375,
                        "z": 373.02728271484375
                    },
                    "rotation": {
                        "roll": -0.0017700196476653218,
                        "pitch": -0.1832198202610016,
                        "yaw": 0.11069811135530472
                    }
                },
                "velocity": {
                    "x": 5.9105424880981445,
                    "y": 0.002518033143132925,
                    "z": -0.021357784047722816
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.301947593688965,
                "transform": {
                    "location": {
                        "x": -82.67312622070312,
                        "y": 4298.20654296875,
                        "z": 372.73138427734375
                    },
                    "rotation": {
                        "roll": -9.155272709904239e-05,
                        "pitch": -0.23544344305992126,
                        "yaw": -0.3461608588695526
                    }
                },
                "velocity": {
                    "x": 12.301623344421387,
                    "y": -0.0743807926774025,
                    "z": -0.04942965507507324
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.049410820007324,
                "transform": {
                    "location": {
                        "x": -54.56187438964844,
                        "y": 4301.291015625,
                        "z": 372.6155700683594
                    },
                    "rotation": {
                        "roll": 0.0007532485760748386,
                        "pitch": -0.2375812828540802,
                        "yaw": -0.364013671875
                    }
                },
                "velocity": {
                    "x": 8.04918098449707,
                    "y": -0.050992149859666824,
                    "z": -0.03323499485850334
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029851913452148,
                "transform": {
                    "location": {
                        "x": -55.11679458618164,
                        "y": 4298.04443359375,
                        "z": 372.61871337890625
                    },
                    "rotation": {
                        "roll": -0.0011901853140443563,
                        "pitch": -0.23913173377513885,
                        "yaw": -0.3455505073070526
                    }
                },
                "velocity": {
                    "x": 8.029631614685059,
                    "y": -0.04956623539328575,
                    "z": -0.03295636549592018
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.4079437255859375,
                "transform": {
                    "location": {
                        "x": -155.82577514648438,
                        "y": 4298.609375,
                        "z": 373.01568603515625
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": -0.1679680049419403,
                        "yaw": -0.10275266319513321
                    }
                },
                "velocity": {
                    "x": 7.407896995544434,
                    "y": -0.004303300753235817,
                    "z": -0.026005882769823074
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400278091430664,
                "transform": {
                    "location": {
                        "x": -92.82733917236328,
                        "y": 4301.5166015625,
                        "z": 372.7771911621094
                    },
                    "rotation": {
                        "roll": -0.00042724612285383046,
                        "pitch": -0.23111309111118317,
                        "yaw": -0.3381652534008026
                    }
                },
                "velocity": {
                    "x": 13.399944305419922,
                    "y": -0.07823655754327774,
                    "z": -0.053156834095716476
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.692409038543701,
                "transform": {
                    "location": {
                        "x": -132.56741333007812,
                        "y": 4295.048828125,
                        "z": 372.9256286621094
                    },
                    "rotation": {
                        "roll": 0.0003983528586104512,
                        "pitch": 0.16542717814445496,
                        "yaw": 179.6497039794922
                    }
                },
                "velocity": {
                    "x": -6.692233562469482,
                    "y": 0.04085943102836609,
                    "z": 0.02595004066824913
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.378545761108398,
                "transform": {
                    "location": {
                        "x": -149.15077209472656,
                        "y": 4295.14892578125,
                        "z": 372.9949951171875
                    },
                    "rotation": {
                        "roll": -3.051757266803179e-05,
                        "pitch": 0.11678940057754517,
                        "yaw": 179.6680908203125
                    }
                },
                "velocity": {
                    "x": -6.378389358520508,
                    "y": 0.03687502443790436,
                    "z": 0.025340881198644638
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.640582084655762,
                "transform": {
                    "location": {
                        "x": -63.94538879394531,
                        "y": 4294.6513671875,
                        "z": 372.6618347167969
                    },
                    "rotation": {
                        "roll": 0.012611385434865952,
                        "pitch": 0.4576568007469177,
                        "yaw": 179.7656707763672
                    }
                },
                "velocity": {
                    "x": -11.640386581420898,
                    "y": 0.04845228046178818,
                    "z": 0.04694390296936035
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.06580348312854767,
                "transform": {
                    "location": {
                        "x": -108.36538696289062,
                        "y": 4294.90673828125,
                        "z": 372.8334045410156
                    },
                    "rotation": {
                        "roll": -0.003234862582758069,
                        "pitch": 0.23006124794483185,
                        "yaw": 179.2730712890625
                    }
                },
                "velocity": {
                    "x": -0.06578671932220459,
                    "y": -5.923211938352324e-05,
                    "z": 0.0014841841766610742
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.44130319356918335,
        "expert_target_speed": 9.23818593832984,
        "target_point": [
            39.08222117718288,
            11.193251556887333
        ],
        "target_point_next": [
            43.34176729598275,
            12.07516081985766
        ]
    },
    "415": {
        "acceleration": [
            -1.4614105224609375,
            -2.5589704513549805,
            0.026001781225204468
        ],
        "angular_velocity": [
            -0.9419159293174744,
            -0.4608915448188782,
            17.705148696899414
        ],
        "forward_vector": [
            -0.990929365158081,
            0.13408924639225006,
            0.008892657235264778
        ],
        "right_vector": [
            -0.13395194709300995,
            -0.9908807277679443,
            0.014566930942237377
        ],
        "location": [
            -123.193359375,
            4295.2099609375,
            372.8938903808594
        ],
        "rotation": [
            -0.8346861600875854,
            0.5095184445381165,
            172.29373168945312
        ],
        "velocity": [
            -9.348344802856445,
            0.9888902902603149,
            0.037120867520570755
        ],
        "speed": 9.400502888636556,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.905801773071289,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -134.09803771972656,
                4295.05810546875,
                372.9317626953125
            ],
            "velocity": [
                -5.214109897613525,
                0.030420102179050446,
                0.020535830408334732
            ],
            "speed_kmh": 18.771260668647344,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -225.6638946533203,
                        "y": 4298.95068359375,
                        "z": 373.5246887207031
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -225.64468383789062,
                        "y": 4302.20068359375,
                        "z": 373.5246887207031
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.56500244140625,
                        "y": 4348.67431640625,
                        "z": 373.1396484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03107052855193615,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -50.19367218017578,
                        "y": 4294.66357421875,
                        "z": 372.76953125
                    },
                    "rotation": {
                        "roll": -5.211065953747429e-11,
                        "pitch": 0.23784767091274261,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -216.5254669189453,
                        "y": 4292.396484375,
                        "z": 373.3694763183594
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -216.08999633789062,
                        "y": 4295.64404296875,
                        "z": 373.3887939453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.22043068706989288,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.183149814605713,
                "transform": {
                    "location": {
                        "x": -156.82015991210938,
                        "y": 4301.85986328125,
                        "z": 373.0213623046875
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": -0.1792924553155899,
                        "yaw": 0.030435891821980476
                    }
                },
                "velocity": {
                    "x": 7.183103084564209,
                    "y": -0.0006782649434171617,
                    "z": -0.025901416316628456
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.529281616210938,
                "transform": {
                    "location": {
                        "x": -79.5250015258789,
                        "y": 4298.18701171875,
                        "z": 372.718505859375
                    },
                    "rotation": {
                        "roll": -0.00033569327206350863,
                        "pitch": -0.229733407497406,
                        "yaw": -0.3406066298484802
                    }
                },
                "velocity": {
                    "x": 12.528949737548828,
                    "y": -0.07469698041677475,
                    "z": -0.05225350707769394
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -52.53249740600586,
                        "y": 4301.25927734375,
                        "z": 372.6081848144531
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23784767091274261,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028732299804688,
                "transform": {
                    "location": {
                        "x": -53.10898208618164,
                        "y": 4298.0322265625,
                        "z": 372.6103515625
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.24032019078731537,
                        "yaw": -0.365478515625
                    }
                },
                "velocity": {
                    "x": 8.028511047363281,
                    "y": -0.04933704435825348,
                    "z": -0.03334159404039383
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.48622989654541,
                "transform": {
                    "location": {
                        "x": -153.87632751464844,
                        "y": 4298.60546875,
                        "z": 373.0086975097656
                    },
                    "rotation": {
                        "roll": 0.001832946902140975,
                        "pitch": -0.17089815437793732,
                        "yaw": -0.059906005859375
                    }
                },
                "velocity": {
                    "x": 8.486152648925781,
                    "y": -0.02046886458992958,
                    "z": -0.029956741258502007
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.4003267288208,
                "transform": {
                    "location": {
                        "x": -89.47772979736328,
                        "y": 4301.4970703125,
                        "z": 372.7635498046875
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.23398177325725555,
                        "yaw": -0.3306274116039276
                    }
                },
                "velocity": {
                    "x": 13.399993896484375,
                    "y": -0.07832825928926468,
                    "z": -0.052894916385412216
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.214239120483398,
                "transform": {
                    "location": {
                        "x": -134.09803771972656,
                        "y": 4295.05810546875,
                        "z": 372.9317626953125
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": 0.12915204465389252,
                        "yaw": 179.65357971191406
                    }
                },
                "velocity": {
                    "x": -5.214109897613525,
                    "y": 0.030420102179050446,
                    "z": 0.020535830408334732
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.13153600692749,
                "transform": {
                    "location": {
                        "x": -150.71304321289062,
                        "y": 4295.158203125,
                        "z": 373.0008239746094
                    },
                    "rotation": {
                        "roll": -0.0005187986535020173,
                        "pitch": 0.11030071973800659,
                        "yaw": 179.67027282714844
                    }
                },
                "velocity": {
                    "x": -6.13140344619751,
                    "y": 0.034352436661720276,
                    "z": 0.021140459924936295
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.265607833862305,
                "transform": {
                    "location": {
                        "x": -66.95757293701172,
                        "y": 4294.6640625,
                        "z": 372.674560546875
                    },
                    "rotation": {
                        "roll": 0.007965653203427792,
                        "pitch": 0.4172084331512451,
                        "yaw": 179.71458435058594
                    }
                },
                "velocity": {
                    "x": -12.265359878540039,
                    "y": 0.06021508947014809,
                    "z": 0.049444131553173065
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4775596559047699,
                "transform": {
                    "location": {
                        "x": -108.43241882324219,
                        "y": 4294.90673828125,
                        "z": 372.8335876464844
                    },
                    "rotation": {
                        "roll": -0.002105712890625,
                        "pitch": 0.24215751886367798,
                        "yaw": 179.25465393066406
                    }
                },
                "velocity": {
                    "x": -0.4775431752204895,
                    "y": 0.0033716720063239336,
                    "z": 0.0020912550389766693
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.37779292464256287,
        "expert_target_speed": 0,
        "target_point": [
            37.51534277539116,
            8.244214086406526
        ],
        "target_point_next": [
            41.829335722450324,
            8.80185370033265
        ]
    },
    "420": {
        "acceleration": [
            0.8197212219238281,
            -2.078239917755127,
            -0.00521831214427948
        ],
        "angular_velocity": [
            0.2080370932817459,
            -0.7648264169692993,
            15.683330535888672
        ],
        "forward_vector": [
            -0.9979598522186279,
            0.06357433646917343,
            0.005864705424755812
        ],
        "right_vector": [
            -0.06348232179880142,
            -0.9978742599487305,
            0.014729687944054604
        ],
        "location": [
            -125.53976440429688,
            4295.3994140625,
            372.9037780761719
        ],
        "rotation": [
            -0.8439940214157104,
            0.33602479100227356,
            176.3549346923828
        ],
        "velocity": [
            -9.360036849975586,
            0.44025033712387085,
            0.0366550050675869
        ],
        "speed": 9.3703847408865,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.701589584350586,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -135.2355499267578,
                4295.0654296875,
                372.93597412109375
            ],
            "velocity": [
                -4.330112934112549,
                0.026697717607021332,
                0.01717987097799778
            ],
            "speed_kmh": 15.58882554138903,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -223.59765625,
                        "y": 4298.9384765625,
                        "z": 373.31182861328125
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -223.57835388183594,
                        "y": 4302.1884765625,
                        "z": 373.31182861328125
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.56695556640625,
                        "y": 4346.591796875,
                        "z": 373.1334228515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.016781773418188095,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -52.262733459472656,
                        "y": 4294.67529296875,
                        "z": 372.65380859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23711682856082916,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -217.7742156982422,
                        "y": 4292.40380859375,
                        "z": 373.31158447265625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -217.3387451171875,
                        "y": 4295.6513671875,
                        "z": 373.3309020996094
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.994467735290527,
                "transform": {
                    "location": {
                        "x": -154.9159393310547,
                        "y": 4301.859375,
                        "z": 373.0146484375
                    },
                    "rotation": {
                        "roll": 0.0007802537875249982,
                        "pitch": -0.1851254403591156,
                        "yaw": -0.0364990197122097
                    }
                },
                "velocity": {
                    "x": 7.9944024085998535,
                    "y": -0.01471676304936409,
                    "z": -0.02874414436519146
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.260090827941895,
                "transform": {
                    "location": {
                        "x": -76.55187225341797,
                        "y": 4298.16943359375,
                        "z": 372.7064514160156
                    },
                    "rotation": {
                        "roll": -0.00012207045801915228,
                        "pitch": -0.2604282796382904,
                        "yaw": -0.33981314301490784
                    }
                },
                "velocity": {
                    "x": 11.259793281555176,
                    "y": -0.06686121970415115,
                    "z": -0.04720582440495491
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -50.45148468017578,
                        "y": 4301.169921875,
                        "z": 372.6036682128906
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23784767091274261,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -51.02812576293945,
                        "y": 4297.9287109375,
                        "z": 372.60577392578125
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23784767091274261,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.562899589538574,
                "transform": {
                    "location": {
                        "x": -151.59397888183594,
                        "y": 4298.60009765625,
                        "z": 373.0004577636719
                    },
                    "rotation": {
                        "roll": 0.0003435300604905933,
                        "pitch": -0.16620580852031708,
                        "yaw": -0.11114499717950821
                    }
                },
                "velocity": {
                    "x": 9.562800407409668,
                    "y": -0.028283104300498962,
                    "z": -0.03315819054841995
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400378227233887,
                "transform": {
                    "location": {
                        "x": -86.12812042236328,
                        "y": 4301.4775390625,
                        "z": 372.7498779296875
                    },
                    "rotation": {
                        "roll": 0.0006555098225362599,
                        "pitch": -0.2343710958957672,
                        "yaw": -0.343841552734375
                    }
                },
                "velocity": {
                    "x": 13.40003490447998,
                    "y": -0.07924225926399231,
                    "z": -0.054158203303813934
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.33022928237915,
                "transform": {
                    "location": {
                        "x": -135.2355499267578,
                        "y": 4295.0654296875,
                        "z": 372.93597412109375
                    },
                    "rotation": {
                        "roll": 0.00014453285257332027,
                        "pitch": 0.1520809829235077,
                        "yaw": 179.75367736816406
                    }
                },
                "velocity": {
                    "x": -4.330112934112549,
                    "y": 0.026697717607021332,
                    "z": 0.01717987097799778
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.946122646331787,
                "transform": {
                    "location": {
                        "x": -152.22125244140625,
                        "y": 4295.166015625,
                        "z": 373.0061340332031
                    },
                    "rotation": {
                        "roll": -0.0006408690242096782,
                        "pitch": 0.1143578514456749,
                        "yaw": 179.67457580566406
                    }
                },
                "velocity": {
                    "x": -5.945988178253174,
                    "y": 0.033751487731933594,
                    "z": 0.021446751430630684
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.303953170776367,
                "transform": {
                    "location": {
                        "x": -69.91460418701172,
                        "y": 4294.6796875,
                        "z": 372.6893005371094
                    },
                    "rotation": {
                        "roll": 0.005946260876953602,
                        "pitch": 0.07839690893888474,
                        "yaw": 179.67913818359375
                    }
                },
                "velocity": {
                    "x": -11.303680419921875,
                    "y": 0.06207616254687309,
                    "z": 0.048099543899297714
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0327987670898438,
                "transform": {
                    "location": {
                        "x": -108.61874389648438,
                        "y": 4294.90771484375,
                        "z": 372.8343200683594
                    },
                    "rotation": {
                        "roll": -0.0033264155499637127,
                        "pitch": 0.24650152027606964,
                        "yaw": 179.21621704101562
                    }
                },
                "velocity": {
                    "x": -1.032774806022644,
                    "y": 0.00660367077216506,
                    "z": 0.0024428940378129482
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2969744801521301,
        "expert_target_speed": 0,
        "target_point": [
            35.651309600205416,
            5.606496473454213
        ],
        "target_point_next": [
            39.993963139343855,
            5.857210105521171
        ]
    },
    "425": {
        "acceleration": [
            4.895381927490234,
            -0.8520123362541199,
            -0.02704240381717682
        ],
        "angular_velocity": [
            1.1330020427703857,
            -1.476197361946106,
            3.5810325145721436
        ],
        "forward_vector": [
            -0.9997586607933044,
            0.021925492212176323,
            0.0013618463417515159
        ],
        "right_vector": [
            -0.021909818053245544,
            -0.9997035264968872,
            0.010618877597153187
        ],
        "location": [
            -127.80452728271484,
            4295.47216796875,
            372.91357421875
        ],
        "rotation": [
            -0.6084288954734802,
            0.07802807539701462,
            178.74366760253906
        ],
        "velocity": [
            -8.62368106842041,
            0.12095656991004944,
            0.03533649444580078
        ],
        "speed": 8.624529300874164,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.568055152893066,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -136.3632049560547,
                4295.072265625,
                372.9397888183594
            ],
            "velocity": [
                -4.910713195800781,
                0.029176289215683937,
                0.018477076664566994
            ],
            "speed_kmh": 17.679004663022123,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.5145263671875,
                        "y": 4298.92626953125,
                        "z": 373.281982421875
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.49514770507812,
                        "y": 4302.17626953125,
                        "z": 373.281982421875
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.998671531677246,
                "transform": {
                    "location": {
                        "x": -174.56069946289062,
                        "y": 4344.54443359375,
                        "z": 373.1272888183594
                    },
                    "rotation": {
                        "roll": -0.0294494591653347,
                        "pitch": -0.016330981627106667,
                        "yaw": -89.71038055419922
                    }
                },
                "velocity": {
                    "x": 0.06774559617042542,
                    "y": -7.998367786407471,
                    "z": -0.01646900177001953
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -54.3459358215332,
                        "y": 4294.6875,
                        "z": 372.6374206542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23711682856082916,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -218.60671997070312,
                        "y": 4292.40869140625,
                        "z": 373.2730407714844
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -218.17124938964844,
                        "y": 4295.65625,
                        "z": 373.2923278808594
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.814160346984863,
                "transform": {
                    "location": {
                        "x": -152.8104705810547,
                        "y": 4301.85498046875,
                        "z": 373.00701904296875
                    },
                    "rotation": {
                        "roll": 0.0009215633617714047,
                        "pitch": -0.18719498813152313,
                        "yaw": -0.148895263671875
                    }
                },
                "velocity": {
                    "x": 8.814064025878906,
                    "y": -0.02767959237098694,
                    "z": -0.030706152319908142
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.843017578125,
                "transform": {
                    "location": {
                        "x": -73.92124938964844,
                        "y": 4298.15380859375,
                        "z": 372.6956481933594
                    },
                    "rotation": {
                        "roll": -0.0001831054105423391,
                        "pitch": -0.2669715881347656,
                        "yaw": -0.3399352431297302
                    }
                },
                "velocity": {
                    "x": 9.84276294708252,
                    "y": -0.05839202180504799,
                    "z": -0.04015655443072319
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3908,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -48.36827850341797,
                        "y": 4301.1552734375,
                        "z": 372.5950622558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23857849836349487,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3907,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -48.94491958618164,
                        "y": 4297.91259765625,
                        "z": 372.5972900390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23857849836349487,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.259382247924805,
                "transform": {
                    "location": {
                        "x": -149.111083984375,
                        "y": 4298.59228515625,
                        "z": 372.99163818359375
                    },
                    "rotation": {
                        "roll": 0.001194326556287706,
                        "pitch": -0.18487271666526794,
                        "yaw": -0.22589106857776642
                    }
                },
                "velocity": {
                    "x": 10.259228706359863,
                    "y": -0.04223399609327316,
                    "z": -0.037000417709350586
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400333404541016,
                "transform": {
                    "location": {
                        "x": -82.77851104736328,
                        "y": 4301.4580078125,
                        "z": 372.7361755371094
                    },
                    "rotation": {
                        "roll": 0.0014843670651316643,
                        "pitch": -0.23400910198688507,
                        "yaw": -0.3420104384422302
                    }
                },
                "velocity": {
                    "x": 13.399972915649414,
                    "y": -0.08069128543138504,
                    "z": -0.05604109540581703
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.910834789276123,
                "transform": {
                    "location": {
                        "x": -136.3632049560547,
                        "y": 4295.072265625,
                        "z": 372.9397888183594
                    },
                    "rotation": {
                        "roll": -0.00021362307597883046,
                        "pitch": 0.23493801057338715,
                        "yaw": 179.764404296875
                    }
                },
                "velocity": {
                    "x": -4.910713195800781,
                    "y": 0.029176289215683937,
                    "z": 0.018477076664566994
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.726831912994385,
                "transform": {
                    "location": {
                        "x": -153.6796112060547,
                        "y": 4295.173828125,
                        "z": 373.0113525390625
                    },
                    "rotation": {
                        "roll": -0.00018310542509425431,
                        "pitch": 0.11870185285806656,
                        "yaw": 179.6744384765625
                    }
                },
                "velocity": {
                    "x": -5.7266998291015625,
                    "y": 0.03249867632985115,
                    "z": 0.021360626444220543
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.804319381713867,
                "transform": {
                    "location": {
                        "x": -72.54022979736328,
                        "y": 4294.69482421875,
                        "z": 372.7019958496094
                    },
                    "rotation": {
                        "roll": 0.002303836867213249,
                        "pitch": -0.12960965931415558,
                        "yaw": 179.66030883789062
                    }
                },
                "velocity": {
                    "x": -9.804070472717285,
                    "y": 0.05696185305714607,
                    "z": 0.04044604301452637
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5847043991088867,
                "transform": {
                    "location": {
                        "x": -108.94265747070312,
                        "y": 4294.91064453125,
                        "z": 372.83544921875
                    },
                    "rotation": {
                        "roll": -0.0019531246507540345,
                        "pitch": 0.24904917180538177,
                        "yaw": 179.3046417236328
                    }
                },
                "velocity": {
                    "x": -1.5846543312072754,
                    "y": 0.010728227905929089,
                    "z": 0.006582622416317463
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.26530277729034424,
        "expert_target_speed": 0,
        "target_point": [
            33.58819099676096,
            4.138786901196904
        ],
        "target_point_next": [
            37.93752050912694,
            4.208284233218569
        ]
    },
    "430": {
        "acceleration": [
            5.228662490844727,
            -0.44726845622062683,
            0.00913809984922409
        ],
        "angular_velocity": [
            0.952861487865448,
            -0.5962684154510498,
            6.195701599121094
        ],
        "forward_vector": [
            -0.9999843239784241,
            0.003764023771509528,
            -0.004143345169723034
        ],
        "right_vector": [
            -0.0037896232679486275,
            -0.9999736547470093,
            0.006188028026372194
        ],
        "location": [
            -129.76219177246094,
            4295.48876953125,
            372.9224548339844
        ],
        "rotation": [
            -0.3545531928539276,
            -0.23739686608314514,
            179.78433227539062
        ],
        "velocity": [
            -7.171267032623291,
            -0.021358804777264595,
            0.029067648574709892
        ],
        "speed": 7.171298839940445,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.02502155303955,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -137.77671813964844,
                4295.0791015625,
                372.9449157714844
            ],
            "velocity": [
                -5.9244561195373535,
                0.03479437157511711,
                0.02227848954498768
            ],
            "speed_kmh": 21.32856064765282,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.4313201904297,
                        "y": 4298.9140625,
                        "z": 373.25213623046875
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.4119415283203,
                        "y": 4302.1640625,
                        "z": 373.25213623046875
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.177838325500488,
                "transform": {
                    "location": {
                        "x": -174.5410919189453,
                        "y": 4342.52099609375,
                        "z": 373.12554931640625
                    },
                    "rotation": {
                        "roll": -0.006927488837391138,
                        "pitch": 0.009814981371164322,
                        "yaw": -89.4497299194336
                    }
                },
                "velocity": {
                    "x": 0.07139544934034348,
                    "y": -8.177526473999023,
                    "z": -0.0019443893106654286
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -56.42913818359375,
                        "y": 4294.7001953125,
                        "z": 372.630859375
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": 0.2363860011100769,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.8562469482422,
                        "y": 4292.416015625,
                        "z": 373.25640869140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.42037963867188,
                        "y": 4295.66357421875,
                        "z": 373.25537109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.58854866027832,
                "transform": {
                    "location": {
                        "x": -150.50741577148438,
                        "y": 4301.84716796875,
                        "z": 372.9987487792969
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": -0.1873452514410019,
                        "yaw": -0.204864501953125
                    }
                },
                "velocity": {
                    "x": 9.588423728942871,
                    "y": -0.03520023822784424,
                    "z": -0.034042976796627045
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.012328147888184,
                "transform": {
                    "location": {
                        "x": -71.60234069824219,
                        "y": 4298.14013671875,
                        "z": 372.68603515625
                    },
                    "rotation": {
                        "roll": -0.00012207017425680533,
                        "pitch": -0.25796258449554443,
                        "yaw": -0.3375244140625
                    }
                },
                "velocity": {
                    "x": 9.01209545135498,
                    "y": -0.05308946967124939,
                    "z": -0.037023499608039856
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.921083450317383,
                "transform": {
                    "location": {
                        "x": -146.46023559570312,
                        "y": 4298.58056640625,
                        "z": 372.98187255859375
                    },
                    "rotation": {
                        "roll": 0.0011637414572760463,
                        "pitch": -0.19202393293380737,
                        "yaw": -0.2989501953125
                    }
                },
                "velocity": {
                    "x": 10.920877456665039,
                    "y": -0.05308086797595024,
                    "z": -0.04102557525038719
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400383949279785,
                "transform": {
                    "location": {
                        "x": -79.42898559570312,
                        "y": 4301.43798828125,
                        "z": 372.7223815917969
                    },
                    "rotation": {
                        "roll": 0.00016836199210956693,
                        "pitch": -0.2361128032207489,
                        "yaw": -0.35513296723365784
                    }
                },
                "velocity": {
                    "x": 13.400015830993652,
                    "y": -0.08187158405780792,
                    "z": -0.056333500891923904
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.924600124359131,
                "transform": {
                    "location": {
                        "x": -137.77671813964844,
                        "y": 4295.0791015625,
                        "z": 372.9449157714844
                    },
                    "rotation": {
                        "roll": 9.222485823556781e-05,
                        "pitch": 0.2733578085899353,
                        "yaw": 179.615234375
                    }
                },
                "velocity": {
                    "x": -5.9244561195373535,
                    "y": 0.03479437157511711,
                    "z": 0.02227848954498768
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.5461344718933105,
                "transform": {
                    "location": {
                        "x": -155.08718872070312,
                        "y": 4295.181640625,
                        "z": 373.016357421875
                    },
                    "rotation": {
                        "roll": 0.0017258638981729746,
                        "pitch": 0.12004739791154861,
                        "yaw": 179.66761779785156
                    }
                },
                "velocity": {
                    "x": -5.545992851257324,
                    "y": 0.03352804481983185,
                    "z": 0.021142367273569107
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.529955863952637,
                "transform": {
                    "location": {
                        "x": -74.82250213623047,
                        "y": 4294.7080078125,
                        "z": 372.7109375
                    },
                    "rotation": {
                        "roll": 0.001711167162284255,
                        "pitch": -0.0782739669084549,
                        "yaw": 179.65476989746094
                    }
                },
                "velocity": {
                    "x": -8.529729843139648,
                    "y": 0.051006317138671875,
                    "z": 0.03534120321273804
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0677669048309326,
                "transform": {
                    "location": {
                        "x": -109.39710998535156,
                        "y": 4294.9140625,
                        "z": 372.83734130859375
                    },
                    "rotation": {
                        "roll": -0.0014648435171693563,
                        "pitch": 0.2465834766626358,
                        "yaw": 179.3804168701172
                    }
                },
                "velocity": {
                    "x": -2.0677132606506348,
                    "y": 0.012858215719461441,
                    "z": 0.0074661062099039555
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3100745975971222,
        "expert_target_speed": 0,
        "target_point": [
            31.700107134958472,
            3.5373020660980043
        ],
        "target_point_next": [
            36.0499814656524,
            3.52779451825931
        ]
    },
    "435": {
        "acceleration": [
            20.760154724121094,
            0.16870707273483276,
            -0.07867240905761719
        ],
        "angular_velocity": [
            0.7155037522315979,
            -4.652878284454346,
            1.0736721754074097
        ],
        "forward_vector": [
            -0.9997647404670715,
            -0.006455096881836653,
            -0.020706720650196075
        ],
        "right_vector": [
            0.006395166274160147,
            -0.9999752044677734,
            0.0029591983184218407
        ],
        "location": [
            -130.98898315429688,
            4295.4814453125,
            372.9305725097656
        ],
        "rotation": [
            -0.1695861965417862,
            -1.1864925622940063,
            -179.63006591796875
        ],
        "velocity": [
            -2.4628853797912598,
            -0.04049195349216461,
            0.0074605271220207214
        ],
        "speed": 2.463218218568373,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.610779762268066,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -139.59085083007812,
                4295.09033203125,
                372.9513854980469
            ],
            "velocity": [
                -8.135445594787598,
                0.05052465945482254,
                0.031110333278775215
            ],
            "speed_kmh": 29.288383076445015,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -217.34811401367188,
                        "y": 4298.90185546875,
                        "z": 373.242919921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -217.32875061035156,
                        "y": 4302.15185546875,
                        "z": 373.242919921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.965576171875,
                "transform": {
                    "location": {
                        "x": -174.52468872070312,
                        "y": 4340.50439453125,
                        "z": 373.12542724609375
                    },
                    "rotation": {
                        "roll": 0.0008503279532305896,
                        "pitch": -0.0012840754352509975,
                        "yaw": -89.53719329833984
                    }
                },
                "velocity": {
                    "x": 0.06254755705595016,
                    "y": -7.965330600738525,
                    "z": 0.00017051697068382055
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -58.46242141723633,
                        "y": 4294.71240234375,
                        "z": 372.6381530761719
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": 0.2363860011100769,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -220.6895294189453,
                        "y": 4292.4208984375,
                        "z": 373.2584228515625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -220.253662109375,
                        "y": 4295.66845703125,
                        "z": 373.2574462890625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.461174964904785,
                "transform": {
                    "location": {
                        "x": -147.99749755859375,
                        "y": 4301.8369140625,
                        "z": 372.9895324707031
                    },
                    "rotation": {
                        "roll": 0.001052670180797577,
                        "pitch": -0.19342412054538727,
                        "yaw": -0.2630615234375
                    }
                },
                "velocity": {
                    "x": 10.460987091064453,
                    "y": -0.0499851368367672,
                    "z": -0.03787882626056671
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.349052429199219,
                "transform": {
                    "location": {
                        "x": -69.3187484741211,
                        "y": 4298.1259765625,
                        "z": 372.6763610839844
                    },
                    "rotation": {
                        "roll": -9.155275620287284e-05,
                        "pitch": -0.2326362282037735,
                        "yaw": -0.3334349989891052
                    }
                },
                "velocity": {
                    "x": 9.348820686340332,
                    "y": -0.05441834777593613,
                    "z": -0.036947134882211685
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.575448989868164,
                "transform": {
                    "location": {
                        "x": -143.64483642578125,
                        "y": 4298.56591796875,
                        "z": 372.97125244140625
                    },
                    "rotation": {
                        "roll": 0.0004943786188960075,
                        "pitch": -0.19125211238861084,
                        "yaw": -0.3425292670726776
                    }
                },
                "velocity": {
                    "x": 11.575200080871582,
                    "y": -0.06376165896654129,
                    "z": -0.04126777499914169
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400352478027344,
                "transform": {
                    "location": {
                        "x": -76.07929229736328,
                        "y": 4301.41796875,
                        "z": 372.70849609375
                    },
                    "rotation": {
                        "roll": 0.0008947121095843613,
                        "pitch": -0.23577812314033508,
                        "yaw": -0.3432616889476776
                    }
                },
                "velocity": {
                    "x": 13.399991989135742,
                    "y": -0.08127089589834213,
                    "z": -0.05530348792672157
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.135662078857422,
                "transform": {
                    "location": {
                        "x": -139.59085083007812,
                        "y": 4295.09033203125,
                        "z": 372.9513854980469
                    },
                    "rotation": {
                        "roll": 9.832539944909513e-05,
                        "pitch": 0.3443029820919037,
                        "yaw": 179.64840698242188
                    }
                },
                "velocity": {
                    "x": -8.135445594787598,
                    "y": 0.05052465945482254,
                    "z": 0.031110333278775215
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.340099334716797,
                "transform": {
                    "location": {
                        "x": -156.44664001464844,
                        "y": 4295.189453125,
                        "z": 373.0212707519531
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": 0.122916080057621,
                        "yaw": 179.6656036376953
                    }
                },
                "velocity": {
                    "x": -5.339974880218506,
                    "y": 0.031221024692058563,
                    "z": 0.01888531632721424
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.806875705718994,
                "transform": {
                    "location": {
                        "x": -76.8446044921875,
                        "y": 4294.7197265625,
                        "z": 372.7180480957031
                    },
                    "rotation": {
                        "roll": 0.0020500519312918186,
                        "pitch": 0.0617995485663414,
                        "yaw": 179.6529541015625
                    }
                },
                "velocity": {
                    "x": -7.80666446685791,
                    "y": 0.04710359498858452,
                    "z": 0.03287067264318466
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.606978416442871,
                "transform": {
                    "location": {
                        "x": -109.98397827148438,
                        "y": 4294.91845703125,
                        "z": 372.8396301269531
                    },
                    "rotation": {
                        "roll": -0.0002441406832076609,
                        "pitch": 0.24759434163570404,
                        "yaw": 179.4579620361328
                    }
                },
                "velocity": {
                    "x": -2.6069107055664062,
                    "y": 0.015700211748480797,
                    "z": 0.010316133499145508
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3180714249610901,
        "expert_target_speed": 3.608576264332403,
        "target_point": [
            30.50778929746596,
            3.2137427861382446
        ],
        "target_point_next": [
            34.857339293240805,
            3.159780572035312
        ]
    },
    "440": {
        "acceleration": [
            -3.9869275093078613,
            -0.06087547168135643,
            0.01327991671860218
        ],
        "angular_velocity": [
            0.15335020422935486,
            5.823959827423096,
            0.2970716059207916
        ],
        "forward_vector": [
            -0.9997643828392029,
            -0.007879383862018585,
            -0.02022688463330269
        ],
        "right_vector": [
            0.007863000966608524,
            -0.9999686479568481,
            0.0008893135818652809
        ],
        "location": [
            -131.1484375,
            4295.47998046875,
            372.93109130859375
        ],
        "rotation": [
            -0.0509643480181694,
            -1.158994197845459,
            -179.54844665527344
        ],
        "velocity": [
            -0.43029093742370605,
            -0.011175109073519707,
            0.0021484566386789083
        ],
        "speed": 0.4304360276414798,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.406804084777832,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -141.54835510253906,
                4295.1025390625,
                372.9597473144531
            ],
            "velocity": [
                -7.2860002517700195,
                0.04600612446665764,
                0.028346814215183258
            ],
            "speed_kmh": 26.230322305932113,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -215.26492309570312,
                        "y": 4298.88916015625,
                        "z": 373.2335510253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -215.24554443359375,
                        "y": 4302.13916015625,
                        "z": 373.2335510253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.145689964294434,
                "transform": {
                    "location": {
                        "x": -174.5096893310547,
                        "y": 4338.4892578125,
                        "z": 373.12548828125
                    },
                    "rotation": {
                        "roll": 0.006639034021645784,
                        "pitch": 0.0017553585348650813,
                        "yaw": -89.59332275390625
                    }
                },
                "velocity": {
                    "x": 0.04731332138180733,
                    "y": -8.145552635192871,
                    "z": 0.0010501289507374167
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -60.416717529296875,
                        "y": 4294.72412109375,
                        "z": 372.6452331542969
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": 0.2363860011100769,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.336715698242188,
                "transform": {
                    "location": {
                        "x": -145.26968383789062,
                        "y": 4301.82373046875,
                        "z": 372.9793701171875
                    },
                    "rotation": {
                        "roll": 0.0001112658646889031,
                        "pitch": -0.193109929561615,
                        "yaw": -0.2982787787914276
                    }
                },
                "velocity": {
                    "x": 11.336484909057617,
                    "y": -0.05946696549654007,
                    "z": -0.0412897914648056
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.115132331848145,
                "transform": {
                    "location": {
                        "x": -66.88546752929688,
                        "y": 4298.1123046875,
                        "z": 372.6662902832031
                    },
                    "rotation": {
                        "roll": -0.0004272460355423391,
                        "pitch": -0.22060826420783997,
                        "yaw": -0.3328551948070526
                    }
                },
                "velocity": {
                    "x": 10.114876747131348,
                    "y": -0.058769434690475464,
                    "z": -0.04148074612021446
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.228262901306152,
                "transform": {
                    "location": {
                        "x": -140.66624450683594,
                        "y": 4298.54931640625,
                        "z": 372.9601135253906
                    },
                    "rotation": {
                        "roll": 0.00011841415107483044,
                        "pitch": -0.19534340500831604,
                        "yaw": -0.3474120795726776
                    }
                },
                "velocity": {
                    "x": 12.2279634475708,
                    "y": -0.0720808207988739,
                    "z": -0.046040669083595276
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400398254394531,
                "transform": {
                    "location": {
                        "x": -72.72968292236328,
                        "y": 4301.3984375,
                        "z": 372.6947326660156
                    },
                    "rotation": {
                        "roll": 0.001855120761319995,
                        "pitch": -0.2352931797504425,
                        "yaw": -0.353057861328125
                    }
                },
                "velocity": {
                    "x": 13.400029182434082,
                    "y": -0.08248020708560944,
                    "z": -0.05559606850147247
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.286201000213623,
                "transform": {
                    "location": {
                        "x": -141.54835510253906,
                        "y": 4295.1025390625,
                        "z": 372.9597473144531
                    },
                    "rotation": {
                        "roll": 0.00030660213087685406,
                        "pitch": 0.20741234719753265,
                        "yaw": 179.62657165527344
                    }
                },
                "velocity": {
                    "x": -7.2860002517700195,
                    "y": 0.04600612446665764,
                    "z": 0.028346814215183258
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.176966667175293,
                "transform": {
                    "location": {
                        "x": -157.7606964111328,
                        "y": 4295.197265625,
                        "z": 373.02593994140625
                    },
                    "rotation": {
                        "roll": 0.000476334331324324,
                        "pitch": 0.12248577922582626,
                        "yaw": 179.66123962402344
                    }
                },
                "velocity": {
                    "x": -5.176840305328369,
                    "y": 0.03157661110162735,
                    "z": 0.017608804628252983
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.010028839111328,
                "transform": {
                    "location": {
                        "x": -78.80640411376953,
                        "y": 4294.73193359375,
                        "z": 372.72467041015625
                    },
                    "rotation": {
                        "roll": 0.0006943864864297211,
                        "pitch": 0.26320815086364746,
                        "yaw": 179.65602111816406
                    }
                },
                "velocity": {
                    "x": -8.009814262390137,
                    "y": 0.04809906706213951,
                    "z": 0.03346015885472298
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.1882104873657227,
                "transform": {
                    "location": {
                        "x": -110.70960998535156,
                        "y": 4294.9228515625,
                        "z": 372.8424987792969
                    },
                    "rotation": {
                        "roll": 0.00037077456363476813,
                        "pitch": 0.24780607223510742,
                        "yaw": 179.52964782714844
                    }
                },
                "velocity": {
                    "x": -3.1881325244903564,
                    "y": 0.01841319538652897,
                    "z": 0.012558802962303162
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.30111661553382874,
        "expert_target_speed": 1.592386541138127,
        "target_point": [
            30.352876298672022,
            3.170064239743585
        ],
        "target_point_next": [
            34.70234499483399,
            3.1099048896560757
        ]
    },
    "445": {
        "acceleration": [
            -1.8270015716552734,
            -0.0535888597369194,
            -0.0028909696266055107
        ],
        "angular_velocity": [
            0.10681896656751633,
            2.5713586807250977,
            -0.10319870710372925
        ],
        "forward_vector": [
            -0.9999603629112244,
            -0.00835133995860815,
            -0.0030860849656164646
        ],
        "right_vector": [
            0.008350115269422531,
            -0.9999650716781616,
            0.00040959211764857173
        ],
        "location": [
            -131.29632568359375,
            4295.4765625,
            372.92816162109375
        ],
        "rotation": [
            -0.023468011990189552,
            -0.17681992053985596,
            -179.52149963378906
        ],
        "velocity": [
            -0.7009414434432983,
            -0.015428110025823116,
            0.002123679965734482
        ],
        "speed": 0.7011112135141925,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 11.9878511428833,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -143.27859497070312,
                4295.11279296875,
                372.9664001464844
            ],
            "velocity": [
                -6.8787713050842285,
                0.04080066457390785,
                0.02535359375178814
            ],
            "speed_kmh": 24.764180504896263,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -213.2177276611328,
                        "y": 4298.876953125,
                        "z": 373.2250671386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -213.19834899902344,
                        "y": 4302.126953125,
                        "z": 373.2250671386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.933846473693848,
                "transform": {
                    "location": {
                        "x": -174.50070190429688,
                        "y": 4336.48046875,
                        "z": 373.12548828125
                    },
                    "rotation": {
                        "roll": 0.008318193256855011,
                        "pitch": -0.008571887388825417,
                        "yaw": -89.767822265625
                    }
                },
                "velocity": {
                    "x": 0.028592461720108986,
                    "y": -7.933794975280762,
                    "z": -0.0011495399521663785
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.010580062866211,
                "transform": {
                    "location": {
                        "x": -62.44491958618164,
                        "y": 4294.72998046875,
                        "z": 372.64862060546875
                    },
                    "rotation": {
                        "roll": -0.011108397506177425,
                        "pitch": 0.22133909165859222,
                        "yaw": 179.8915557861328
                    }
                },
                "velocity": {
                    "x": -8.01053524017334,
                    "y": -0.026390137150883675,
                    "z": -0.0036436079535633326
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.291572570800781,
                "transform": {
                    "location": {
                        "x": -142.31202697753906,
                        "y": 4301.8076171875,
                        "z": 372.9683532714844
                    },
                    "rotation": {
                        "roll": -0.00030517581035383046,
                        "pitch": -0.19146385788917542,
                        "yaw": -0.314361572265625
                    }
                },
                "velocity": {
                    "x": 12.291305541992188,
                    "y": -0.06711337715387344,
                    "z": -0.045521315187215805
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.951464653015137,
                "transform": {
                    "location": {
                        "x": -64.24983978271484,
                        "y": 4298.0966796875,
                        "z": 372.65545654296875
                    },
                    "rotation": {
                        "roll": 0.0005364528042264283,
                        "pitch": -0.21642819046974182,
                        "yaw": -0.3359985053539276
                    }
                },
                "velocity": {
                    "x": 10.951184272766113,
                    "y": -0.06423782557249069,
                    "z": -0.04491213709115982
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 12.87765884399414,
                "transform": {
                    "location": {
                        "x": -137.52484130859375,
                        "y": 4298.53076171875,
                        "z": 372.947998046875
                    },
                    "rotation": {
                        "roll": 0.00026123097632080317,
                        "pitch": -0.19991962611675262,
                        "yaw": -0.3564147651195526
                    }
                },
                "velocity": {
                    "x": 12.877328872680664,
                    "y": -0.07833560556173325,
                    "z": -0.048838261514902115
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400345802307129,
                "transform": {
                    "location": {
                        "x": -69.38007354736328,
                        "y": 4301.3779296875,
                        "z": 372.6809387207031
                    },
                    "rotation": {
                        "roll": -0.00021362311963457614,
                        "pitch": -0.23541611433029175,
                        "yaw": -0.3458556830883026
                    }
                },
                "velocity": {
                    "x": 13.399981498718262,
                    "y": -0.0808914452791214,
                    "z": -0.05671270191669464
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.878939151763916,
                "transform": {
                    "location": {
                        "x": -143.27859497070312,
                        "y": 4295.11279296875,
                        "z": 372.9664001464844
                    },
                    "rotation": {
                        "roll": -0.00024414053768850863,
                        "pitch": 0.18806925415992737,
                        "yaw": 179.6656036376953
                    }
                },
                "velocity": {
                    "x": -6.8787713050842285,
                    "y": 0.04080066457390785,
                    "z": 0.02535359375178814
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.091416358947754,
                "transform": {
                    "location": {
                        "x": -159.0309295654297,
                        "y": 4295.205078125,
                        "z": 373.03021240234375
                    },
                    "rotation": {
                        "roll": 0.00040431119850836694,
                        "pitch": 0.13196608424186707,
                        "yaw": 179.65513610839844
                    }
                },
                "velocity": {
                    "x": -5.091281414031982,
                    "y": 0.03199560567736626,
                    "z": 0.01873437874019146
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.212004661560059,
                "transform": {
                    "location": {
                        "x": -80.84953308105469,
                        "y": 4294.7431640625,
                        "z": 372.7324523925781
                    },
                    "rotation": {
                        "roll": 0.0009910002117976546,
                        "pitch": 0.33483633399009705,
                        "yaw": 179.654052734375
                    }
                },
                "velocity": {
                    "x": -8.21178913116455,
                    "y": 0.04963752254843712,
                    "z": 0.03291526809334755
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.9132118225097656,
                "transform": {
                    "location": {
                        "x": -111.5960922241211,
                        "y": 4294.92919921875,
                        "z": 372.8460998535156
                    },
                    "rotation": {
                        "roll": 0.00017848916468210518,
                        "pitch": 0.2513850927352905,
                        "yaw": 179.58627319335938
                    }
                },
                "velocity": {
                    "x": -3.913121223449707,
                    "y": 0.022680653259158134,
                    "z": 0.013958148658275604
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.287640243768692,
        "expert_target_speed": 1.8617472610137595,
        "target_point": [
            30.2064518151153,
            3.153610338207797
        ],
        "target_point_next": [
            34.55589174594289,
            3.0914060423881207
        ]
    },
    "450": {
        "acceleration": [
            -2.9607701301574707,
            -0.04502978175878525,
            0.014308169484138489
        ],
        "angular_velocity": [
            0.01992407813668251,
            1.2809165716171265,
            0.4354773163795471
        ],
        "forward_vector": [
            -0.9999403953552246,
            -0.009962446056306362,
            0.004458292853087187
        ],
        "right_vector": [
            0.009963522665202618,
            -0.9999503493309021,
            0.00021944227046333253
        ],
        "location": [
            -131.53961181640625,
            4295.4716796875,
            372.927490234375
        ],
        "rotation": [
            -0.012573241256177425,
            0.25544223189353943,
            -179.42918395996094
        ],
        "velocity": [
            -1.2699295282363892,
            -0.027181100100278854,
            0.0038752842228859663
        ],
        "speed": 1.2702203820161915,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 13.527521133422852,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -145.0625762939453,
                4295.12353515625,
                372.97283935546875
            ],
            "velocity": [
                -7.157294750213623,
                0.04315181076526642,
                0.02519908919930458
            ],
            "speed_kmh": 25.76688908613889,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -211.24264526367188,
                        "y": 4298.865234375,
                        "z": 373.2174377441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -211.22328186035156,
                        "y": 4302.115234375,
                        "z": 373.2174377441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.010805130004883,
                "transform": {
                    "location": {
                        "x": -174.49468994140625,
                        "y": 4334.48486328125,
                        "z": 373.12518310546875
                    },
                    "rotation": {
                        "roll": 0.005839176010340452,
                        "pitch": -0.027279773727059364,
                        "yaw": -89.83718872070312
                    }
                },
                "velocity": {
                    "x": 0.02146075665950775,
                    "y": -8.01077651977539,
                    "z": -0.002351789502426982
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.043069839477539,
                "transform": {
                    "location": {
                        "x": -64.45171356201172,
                        "y": 4294.72314453125,
                        "z": 372.65179443359375
                    },
                    "rotation": {
                        "roll": -0.0027465817984193563,
                        "pitch": 0.23247914016246796,
                        "yaw": -179.77114868164062
                    }
                },
                "velocity": {
                    "x": -8.042911529541016,
                    "y": -0.04447690397500992,
                    "z": 0.02387009561061859
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.791069984436035,
                "transform": {
                    "location": {
                        "x": -139.2042999267578,
                        "y": 4301.7900390625,
                        "z": 372.9566345214844
                    },
                    "rotation": {
                        "roll": -0.0008544921292923391,
                        "pitch": -0.20526082813739777,
                        "yaw": -0.3204039931297302
                    }
                },
                "velocity": {
                    "x": 12.790777206420898,
                    "y": -0.07141419500112534,
                    "z": -0.04902112856507301
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.889291763305664,
                "transform": {
                    "location": {
                        "x": -61.390625,
                        "y": 4298.080078125,
                        "z": 372.64361572265625
                    },
                    "rotation": {
                        "roll": 0.0003194054588675499,
                        "pitch": -0.2155470997095108,
                        "yaw": -0.3369140028953552
                    }
                },
                "velocity": {
                    "x": 11.888986587524414,
                    "y": -0.06983709335327148,
                    "z": -0.04861568659543991
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.38807201385498,
                "transform": {
                    "location": {
                        "x": -134.2301483154297,
                        "y": 4298.5107421875,
                        "z": 372.9353942871094
                    },
                    "rotation": {
                        "roll": 8.13543883850798e-05,
                        "pitch": -0.20251509547233582,
                        "yaw": -0.35064697265625
                    }
                },
                "velocity": {
                    "x": 13.387727737426758,
                    "y": -0.0814543217420578,
                    "z": -0.050976164638996124
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400400161743164,
                "transform": {
                    "location": {
                        "x": -66.03046417236328,
                        "y": 4301.3583984375,
                        "z": 372.6671447753906
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": -0.23571664094924927,
                        "yaw": -0.3501282036304474
                    }
                },
                "velocity": {
                    "x": 13.400038719177246,
                    "y": -0.08104297518730164,
                    "z": -0.05595390498638153
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.157468795776367,
                "transform": {
                    "location": {
                        "x": -145.0625762939453,
                        "y": 4295.12353515625,
                        "z": 372.97283935546875
                    },
                    "rotation": {
                        "roll": 0.00012716841592919081,
                        "pitch": 0.22327886521816254,
                        "yaw": 179.6350555419922
                    }
                },
                "velocity": {
                    "x": -7.157294750213623,
                    "y": 0.04315181076526642,
                    "z": 0.02519908919930458
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.116090178489685,
                "transform": {
                    "location": {
                        "x": -159.865234375,
                        "y": 4295.21044921875,
                        "z": 373.0364074707031
                    },
                    "rotation": {
                        "roll": 0.0002578185813035816,
                        "pitch": -0.8178672790527344,
                        "yaw": 179.6529541015625
                    }
                },
                "velocity": {
                    "x": -1.1160658597946167,
                    "y": 0.006782533600926399,
                    "z": 0.00287735927850008
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.056543350219727,
                "transform": {
                    "location": {
                        "x": -82.88202667236328,
                        "y": 4294.7548828125,
                        "z": 372.74176025390625
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": 0.20601215958595276,
                        "yaw": 179.65652465820312
                    }
                },
                "velocity": {
                    "x": -8.056328773498535,
                    "y": 0.04830440506339073,
                    "z": 0.03353644162416458
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.839167594909668,
                "transform": {
                    "location": {
                        "x": -112.69155883789062,
                        "y": 4294.935546875,
                        "z": 372.8503112792969
                    },
                    "rotation": {
                        "roll": 0.0005780306528322399,
                        "pitch": 0.2570131719112396,
                        "yaw": 179.62863159179688
                    }
                },
                "velocity": {
                    "x": -4.839051246643066,
                    "y": 0.027782825753092766,
                    "z": 0.018771667033433914
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.28592753410339355,
        "expert_target_speed": 2.427624599452475,
        "target_point": [
            29.968172579477717,
            3.102463496188508
        ],
        "target_point_next": [
            34.31750660601993,
            3.033249250126681
        ]
    },
    "455": {
        "acceleration": [
            -4.110510349273682,
            -0.1343793421983719,
            0.015987586230039597
        ],
        "angular_velocity": [
            -0.07923278957605362,
            0.7935082316398621,
            1.3615556955337524
        ],
        "forward_vector": [
            -0.9998809695243835,
            -0.013173640705645084,
            0.008033068850636482
        ],
        "right_vector": [
            0.013176104985177517,
            -0.9999131560325623,
            0.00025405740598216653
        ],
        "location": [
            -131.95272827148438,
            4295.462890625,
            372.9283447265625
        ],
        "rotation": [
            -0.01455688662827015,
            0.4602659344673157,
            -179.2451629638672
        ],
        "velocity": [
            -2.0458364486694336,
            -0.049923889338970184,
            0.007088756188750267
        ],
        "speed": 2.046445496325541,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 14.706347465515137,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -146.65530395507812,
                4295.1337890625,
                372.9796447753906
            ],
            "velocity": [
                -4.781823635101318,
                0.02243594080209732,
                0.018093938007950783
            ],
            "speed_kmh": 17.21487780347647,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.3180236816406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0316169448196888,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -224.9471893310547,
                        "y": 4298.9462890625,
                        "z": 373.40533447265625
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -209.33718872070312,
                        "y": 4298.8544921875,
                        "z": 373.21014404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -209.31781005859375,
                        "y": 4302.1044921875,
                        "z": 373.21014404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.571467399597168,
                "transform": {
                    "location": {
                        "x": -174.490234375,
                        "y": 4332.53564453125,
                        "z": 373.1246337890625
                    },
                    "rotation": {
                        "roll": 0.004402815364301205,
                        "pitch": -0.047790832817554474,
                        "yaw": -89.89495086669922
                    }
                },
                "velocity": {
                    "x": 0.010296270251274109,
                    "y": -7.571460247039795,
                    "z": -0.0023007201962172985
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.9534783363342285,
                "transform": {
                    "location": {
                        "x": -66.4507827758789,
                        "y": 4294.712890625,
                        "z": 372.6590270996094
                    },
                    "rotation": {
                        "roll": 0.0050811185501515865,
                        "pitch": 0.23400910198688507,
                        "yaw": -179.70191955566406
                    }
                },
                "velocity": {
                    "x": -7.953398704528809,
                    "y": -0.01847103238105774,
                    "z": 0.030524883419275284
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.344931602478027,
                "transform": {
                    "location": {
                        "x": -135.92491149902344,
                        "y": 4301.771484375,
                        "z": 372.9440002441406
                    },
                    "rotation": {
                        "roll": 0.00029641500441357493,
                        "pitch": -0.20751479268074036,
                        "yaw": -0.3348693549633026
                    }
                },
                "velocity": {
                    "x": 13.344600677490234,
                    "y": -0.07873084396123886,
                    "z": -0.05134931579232216
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -57.91929626464844,
                        "y": 4298.0029296875,
                        "z": 372.6324157714844
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": -0.23711682856082916,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -224.9278106689453,
                        "y": 4302.1962890625,
                        "z": 373.40533447265625
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -50.96468734741211,
                        "y": 4294.66796875,
                        "z": 372.6722106933594
                    },
                    "rotation": {
                        "roll": -5.211065953747429e-11,
                        "pitch": 0.23784767091274261,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.451177597045898,
                "transform": {
                    "location": {
                        "x": -130.86866760253906,
                        "y": 4298.49072265625,
                        "z": 372.92242431640625
                    },
                    "rotation": {
                        "roll": -0.0005493164644576609,
                        "pitch": -0.21982279419898987,
                        "yaw": -0.3504028022289276
                    }
                },
                "velocity": {
                    "x": 13.450833320617676,
                    "y": -0.0810152143239975,
                    "z": -0.05202370882034302
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.400358200073242,
                "transform": {
                    "location": {
                        "x": -62.68085861206055,
                        "y": 4301.33837890625,
                        "z": 372.6533203125
                    },
                    "rotation": {
                        "roll": 0.0008231570245698094,
                        "pitch": -0.23571664094924927,
                        "yaw": -0.347320556640625
                    }
                },
                "velocity": {
                    "x": 13.399991989135742,
                    "y": -0.0818038061261177,
                    "z": -0.05586450546979904
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.781910419464111,
                "transform": {
                    "location": {
                        "x": -146.65530395507812,
                        "y": 4295.1337890625,
                        "z": 372.9796447753906
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.1033407598733902,
                        "yaw": 179.763916015625
                    }
                },
                "velocity": {
                    "x": -4.781823635101318,
                    "y": 0.02243594080209732,
                    "z": 0.018093938007950783
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0102035878226161,
                "transform": {
                    "location": {
                        "x": -159.88507080078125,
                        "y": 4295.21044921875,
                        "z": 373.0360412597656
                    },
                    "rotation": {
                        "roll": -0.00012207035615574569,
                        "pitch": -0.7148065567016602,
                        "yaw": 179.65252685546875
                    }
                },
                "velocity": {
                    "x": 0.01006329245865345,
                    "y": -7.446212839568034e-05,
                    "z": 0.001684575923718512
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.000062942504883,
                "transform": {
                    "location": {
                        "x": -84.88288879394531,
                        "y": 4294.7666015625,
                        "z": 372.75
                    },
                    "rotation": {
                        "roll": 0.00036406717845238745,
                        "pitch": 0.2041884958744049,
                        "yaw": 179.656005859375
                    }
                },
                "velocity": {
                    "x": -7.999845504760742,
                    "y": 0.04888971149921417,
                    "z": 0.03299902752041817
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.313868522644043,
                "transform": {
                    "location": {
                        "x": -113.98686981201172,
                        "y": 4294.94384765625,
                        "z": 372.85577392578125
                    },
                    "rotation": {
                        "roll": -3.0517576306010596e-05,
                        "pitch": 0.2448759227991104,
                        "yaw": 179.6681365966797
                    }
                },
                "velocity": {
                    "x": -5.313740253448486,
                    "y": 0.030156349763274193,
                    "z": 0.021295126527547836
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.26665037870407104,
        "expert_target_speed": 3.195630509266752,
        "target_point": [
            29.564785184799078,
            3.0028590930018506
        ],
        "target_point_next": [
            33.91387450140282,
            2.9196773492174874
        ]
    },
    "460": {
        "acceleration": [
            -5.623478889465332,
            -0.2135106921195984,
            0.032349396497011185
        ],
        "angular_velocity": [
            -0.054145295172929764,
            0.7980905771255493,
            1.3393253087997437
        ],
        "forward_vector": [
            -0.9997737407684326,
            -0.017941398546099663,
            0.011427510529756546
        ],
        "right_vector": [
            0.017947107553482056,
            -0.9998388886451721,
            0.00039731766446493566
        ],
        "location": [
            -132.61734008789062,
            4295.4462890625,
            372.93017578125
        ],
        "rotation": [
            -0.02276611141860485,
            0.6547623872756958,
            -178.97190856933594
        ],
        "velocity": [
            -3.2732832431793213,
            -0.0931946188211441,
            0.012558851391077042
        ],
        "speed": 3.274609660258113,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 14.4711332321167,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -147.08506774902344,
                4295.13671875,
                372.9822998046875
            ],
            "velocity": [
                0.0005448560114018619,
                0.00033446686575189233,
                -0.0012667919509112835
            ],
            "speed_kmh": 0.005108320089447187,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.011560246348381042,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.0596008300781
                    },
                    "rotation": {
                        "roll": -3.0519073334289715e-05,
                        "pitch": 0.03087928332388401,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.00018472623196430504,
                    "y": 3.497321131362696e-06,
                    "z": -0.011558769270777702
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -223.10577392578125,
                        "y": 4298.93603515625,
                        "z": 373.27581787109375
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -207.4988250732422,
                        "y": 4298.84326171875,
                        "z": 373.2032470703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2114899605512619,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -207.4794464111328,
                        "y": 4302.09326171875,
                        "z": 373.2032470703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2114899605512619,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.503328800201416,
                "transform": {
                    "location": {
                        "x": -174.4883575439453,
                        "y": 4330.65283203125,
                        "z": 373.1240234375
                    },
                    "rotation": {
                        "roll": 0.0033352551981806755,
                        "pitch": -0.06097309663891792,
                        "yaw": -89.95648193359375
                    }
                },
                "velocity": {
                    "x": 0.004206704907119274,
                    "y": -7.503327369689941,
                    "z": -0.0019490241538733244
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.482065677642822,
                "transform": {
                    "location": {
                        "x": -68.43383026123047,
                        "y": 4294.71044921875,
                        "z": 372.66705322265625
                    },
                    "rotation": {
                        "roll": 0.005440406501293182,
                        "pitch": 0.21976132690906525,
                        "yaw": -179.93017578125
                    }
                },
                "velocity": {
                    "x": -7.482003211975098,
                    "y": 0.0012724228436127305,
                    "z": 0.030500954017043114
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.464933395385742,
                "transform": {
                    "location": {
                        "x": -132.5675811767578,
                        "y": 4301.751953125,
                        "z": 372.9310607910156
                    },
                    "rotation": {
                        "roll": 0.0002601642336230725,
                        "pitch": -0.21685849130153656,
                        "yaw": -0.342864990234375
                    }
                },
                "velocity": {
                    "x": 13.464587211608887,
                    "y": -0.08107736706733704,
                    "z": -0.05261692404747009
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3913,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -54.44773483276367,
                        "y": 4297.93994140625,
                        "z": 372.6203918457031
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23784767091274261,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -223.08639526367188,
                        "y": 4302.18603515625,
                        "z": 373.27581787109375
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -52.95616912841797,
                        "y": 4294.68017578125,
                        "z": 372.6531982421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23711682856082916,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.395118713378906,
                "transform": {
                    "location": {
                        "x": -127.513671875,
                        "y": 4298.470703125,
                        "z": 372.9093017578125
                    },
                    "rotation": {
                        "roll": -0.0010070798452943563,
                        "pitch": -0.22637978196144104,
                        "yaw": -0.34130859375
                    }
                },
                "velocity": {
                    "x": 13.394773483276367,
                    "y": -0.08087625354528427,
                    "z": -0.05215061455965042
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -59.23593521118164,
                        "y": 4301.2490234375,
                        "z": 372.63995361328125
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": -0.23711682856082916,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001418977859430015,
                "transform": {
                    "location": {
                        "x": -147.08506774902344,
                        "y": 4295.13671875,
                        "z": 372.9822998046875
                    },
                    "rotation": {
                        "roll": -0.0022277827374637127,
                        "pitch": -0.07400509715080261,
                        "yaw": 179.8916015625
                    }
                },
                "velocity": {
                    "x": 0.0005448560114018619,
                    "y": 0.00033446686575189233,
                    "z": -0.0012667919509112835
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0050939288921654224,
                "transform": {
                    "location": {
                        "x": -159.8887481689453,
                        "y": 4295.21044921875,
                        "z": 373.033935546875
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": -0.127075657248497,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.004708032589405775,
                    "y": 4.258491753716953e-05,
                    "z": 0.0019444096833467484
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.121792793273926,
                "transform": {
                    "location": {
                        "x": -86.90101623535156,
                        "y": 4294.77880859375,
                        "z": 372.7578430175781
                    },
                    "rotation": {
                        "roll": 9.694945038063452e-05,
                        "pitch": 0.2626070976257324,
                        "yaw": 179.654296875
                    }
                },
                "velocity": {
                    "x": -8.121577262878418,
                    "y": 0.04899083077907562,
                    "z": 0.033300235867500305
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.107637882232666,
                "transform": {
                    "location": {
                        "x": -115.39749908447266,
                        "y": 4294.95166015625,
                        "z": 372.861328125
                    },
                    "rotation": {
                        "roll": -0.00015258790517691523,
                        "pitch": 0.25110507011413574,
                        "yaw": 179.70204162597656
                    }
                },
                "velocity": {
                    "x": -6.107503414154053,
                    "y": 0.03349434956908226,
                    "z": 0.022827424108982086
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.22903752326965332,
        "expert_target_speed": 4.395071100998261,
        "target_point": [
            28.913966430408237,
            2.8571613648667675
        ],
        "target_point_next": [
            33.26260961417158,
            2.7532404978359875
        ]
    },
    "465": {
        "acceleration": [
            -5.4589080810546875,
            -0.3173929452896118,
            0.030353181064128876
        ],
        "angular_velocity": [
            -0.06096840649843216,
            0.27863550186157227,
            1.8791828155517578
        ],
        "forward_vector": [
            -0.9995880126953125,
            -0.0250600166618824,
            0.013993760570883751
        ],
        "right_vector": [
            0.025072136893868446,
            -0.9996854066848755,
            0.0006912886165082455
        ],
        "location": [
            -133.6285858154297,
            4295.4150390625,
            372.93353271484375
        ],
        "rotation": [
            -0.039611801505088806,
            0.801809549331665,
            -178.56387329101562
        ],
        "velocity": [
            -4.707774639129639,
            -0.16399328410625458,
            0.018343115225434303
        ],
        "speed": 4.71063009055733,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 13.672370910644531,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -147.2980499267578,
                4295.13720703125,
                372.98138427734375
            ],
            "velocity": [
                -1.202178955078125,
                0.00411835266277194,
                0.005731105804443359
            ],
            "speed_kmh": 4.327918811830841,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6265163421630859,
                "transform": {
                    "location": {
                        "x": -174.56398010253906,
                        "y": 4349.2548828125,
                        "z": 373.0898742675781
                    },
                    "rotation": {
                        "roll": -0.0063476539216935635,
                        "pitch": 0.14688320457935333,
                        "yaw": -90.07653045654297
                    }
                },
                "velocity": {
                    "x": 0.006990169640630484,
                    "y": -0.6132853031158447,
                    "z": 0.1278865784406662
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.2262420654297,
                        "y": 4298.92529296875,
                        "z": 373.2625427246094
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -205.72515869140625,
                        "y": 4298.83349609375,
                        "z": 373.1966247558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2114899605512619,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -205.70578002929688,
                        "y": 4302.08349609375,
                        "z": 373.1966247558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2114899605512619,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.026952266693115,
                "transform": {
                    "location": {
                        "x": -174.48828125,
                        "y": 4328.8388671875,
                        "z": 373.1232604980469
                    },
                    "rotation": {
                        "roll": 0.0009648416889831424,
                        "pitch": -0.07272785156965256,
                        "yaw": -89.97562408447266
                    }
                },
                "velocity": {
                    "x": 0.0030561473686248064,
                    "y": -7.026951313018799,
                    "z": -0.0020818805787712336
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.7736029624938965,
                "transform": {
                    "location": {
                        "x": -70.01078033447266,
                        "y": 4294.70947265625,
                        "z": 372.6740417480469
                    },
                    "rotation": {
                        "roll": 0.0024578392039984465,
                        "pitch": 0.14499807357788086,
                        "yaw": 179.980712890625
                    }
                },
                "velocity": {
                    "x": -5.773550510406494,
                    "y": 0.004214963410049677,
                    "z": 0.024250563234090805
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.453314781188965,
                "transform": {
                    "location": {
                        "x": -129.20217895507812,
                        "y": 4301.732421875,
                        "z": 372.91790771484375
                    },
                    "rotation": {
                        "roll": 0.0003608257684390992,
                        "pitch": -0.22570358216762543,
                        "yaw": -0.34625235199928284
                    }
                },
                "velocity": {
                    "x": 13.45296573638916,
                    "y": -0.08107820153236389,
                    "z": -0.05301203206181526
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.23553466796875,
                        "y": 4302.17529296875,
                        "z": 373.26275634765625
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -54.59366989135742,
                        "y": 4294.689453125,
                        "z": 372.6375427246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23711682856082916,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.378069877624512,
                "transform": {
                    "location": {
                        "x": -124.16819763183594,
                        "y": 4298.451171875,
                        "z": 372.8961486816406
                    },
                    "rotation": {
                        "roll": 0.001122895861044526,
                        "pitch": -0.22592899203300476,
                        "yaw": -0.3447265326976776
                    }
                },
                "velocity": {
                    "x": 13.377726554870605,
                    "y": -0.08022688329219818,
                    "z": -0.05256710946559906
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3912,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -55.76398468017578,
                        "y": 4301.20263671875,
                        "z": 372.6258850097656
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": -0.23711682856082916,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2021996974945068,
                "transform": {
                    "location": {
                        "x": -147.2980499267578,
                        "y": 4295.13720703125,
                        "z": 372.98138427734375
                    },
                    "rotation": {
                        "roll": 4.6865345211699605e-05,
                        "pitch": 0.19404566287994385,
                        "yaw": 179.79176330566406
                    }
                },
                "velocity": {
                    "x": -1.202178955078125,
                    "y": 0.00411835266277194,
                    "z": 0.005731105804443359
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.002339521888643503,
                "transform": {
                    "location": {
                        "x": -159.890625,
                        "y": 4295.21044921875,
                        "z": 373.033203125
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": 0.09623736143112183,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.001627370249480009,
                    "y": -5.3122737881494686e-05,
                    "z": 0.0016799425939098
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063553810119629,
                "transform": {
                    "location": {
                        "x": -88.92554473876953,
                        "y": 4294.7900390625,
                        "z": 372.7662048339844
                    },
                    "rotation": {
                        "roll": 0.0005391256418079138,
                        "pitch": 0.2422872930765152,
                        "yaw": 179.65301513671875
                    }
                },
                "velocity": {
                    "x": -8.063333511352539,
                    "y": 0.04963689669966698,
                    "z": 0.03308754786849022
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.275382995605469,
                "transform": {
                    "location": {
                        "x": -117.07366943359375,
                        "y": 4294.9609375,
                        "z": 372.86767578125
                    },
                    "rotation": {
                        "roll": 0.0007166520226746798,
                        "pitch": 0.26433512568473816,
                        "yaw": 179.71238708496094
                    }
                },
                "velocity": {
                    "x": -7.275221347808838,
                    "y": 0.03980519622564316,
                    "z": 0.0277903750538826
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17538107931613922,
        "expert_target_speed": 5.752851486104246,
        "target_point": [
            27.92187048408115,
            2.645268699184495
        ],
        "target_point_next": [
            32.269663256922755,
            2.5103795197734993
        ]
    },
    "470": {
        "acceleration": [
            0.5148124694824219,
            -0.12697309255599976,
            0.01085091382265091
        ],
        "angular_velocity": [
            0.15944062173366547,
            -1.7552289962768555,
            -1.4670443534851074
        ],
        "forward_vector": [
            -0.999380886554718,
            -0.033400774002075195,
            0.011058819480240345
        ],
        "right_vector": [
            0.03341226652264595,
            -0.9994413256645203,
            0.0008558873669244349
        ],
        "location": [
            -134.92015075683594,
            4295.36669921875,
            372.939453125
        ],
        "rotation": [
            -0.0490417405962944,
            0.6336365938186646,
            -178.08580017089844
        ],
        "velocity": [
            -5.246593475341797,
            -0.2221624255180359,
            0.021323146298527718
        ],
        "speed": 5.251295005882946,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 12.68625545501709,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -147.6042938232422,
                4295.13916015625,
                372.9822998046875
            ],
            "velocity": [
                -1.4226648807525635,
                0.008219621144235134,
                0.005808830261230469
            ],
            "speed_kmh": 5.121721742948629,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.63077974319458,
                "transform": {
                    "location": {
                        "x": -174.56015014648438,
                        "y": 4348.943359375,
                        "z": 373.1094970703125
                    },
                    "rotation": {
                        "roll": -0.008453375659883022,
                        "pitch": 0.3968134820461273,
                        "yaw": -89.90941619873047
                    }
                },
                "velocity": {
                    "x": 0.011085081845521927,
                    "y": -1.6300811767578125,
                    "z": 0.046424493193626404
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.499755859375,
                        "y": 4298.91455078125,
                        "z": 373.2503967285156
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.347661018371582,
                "transform": {
                    "location": {
                        "x": -204.0554656982422,
                        "y": 4298.82373046875,
                        "z": 373.19482421875
                    },
                    "rotation": {
                        "roll": -0.012390135787427425,
                        "pitch": -0.30697599053382874,
                        "yaw": -0.2963561415672302
                    }
                },
                "velocity": {
                    "x": 5.347031116485596,
                    "y": 0.010557068511843681,
                    "z": 0.08139018714427948
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.517273426055908,
                "transform": {
                    "location": {
                        "x": -204.02960205078125,
                        "y": 4302.07275390625,
                        "z": 373.18994140625
                    },
                    "rotation": {
                        "roll": 0.0013828822411596775,
                        "pitch": -0.2351975440979004,
                        "yaw": -0.34051513671875
                    }
                },
                "velocity": {
                    "x": 5.517018795013428,
                    "y": -0.03311610594391823,
                    "z": -0.04140680655837059
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.993320941925049,
                "transform": {
                    "location": {
                        "x": -174.48828125,
                        "y": 4327.08642578125,
                        "z": 373.1224060058594
                    },
                    "rotation": {
                        "roll": 0.0011174604296684265,
                        "pitch": -0.06716807931661606,
                        "yaw": -89.99785614013672
                    }
                },
                "velocity": {
                    "x": -0.0005171964294277132,
                    "y": -6.993319988250732,
                    "z": -0.0033143518958240747
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.873968601226807,
                "transform": {
                    "location": {
                        "x": -71.45109558105469,
                        "y": 4294.7119140625,
                        "z": 372.679443359375
                    },
                    "rotation": {
                        "roll": 0.0033686282113194466,
                        "pitch": 0.22518450021743774,
                        "yaw": 179.92205810546875
                    }
                },
                "velocity": {
                    "x": -5.8738932609558105,
                    "y": 0.017785418778657913,
                    "z": 0.02394256554543972
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.421525001525879,
                "transform": {
                    "location": {
                        "x": -125.84343719482422,
                        "y": 4301.71240234375,
                        "z": 372.9047546386719
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.22519132494926453,
                        "yaw": -0.3506164848804474
                    }
                },
                "velocity": {
                    "x": 13.421171188354492,
                    "y": -0.08197220414876938,
                    "z": -0.052631013095378876
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.47288513183594,
                        "y": 4302.16455078125,
                        "z": 373.25030517578125
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -56.02906036376953,
                        "y": 4294.6982421875,
                        "z": 372.6279296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23711682856082916,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.382440567016602,
                "transform": {
                    "location": {
                        "x": -120.82320404052734,
                        "y": 4298.431640625,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": 3.70090056094341e-05,
                        "pitch": -0.22521863877773285,
                        "yaw": -0.33917236328125
                    }
                },
                "velocity": {
                    "x": 13.382097244262695,
                    "y": -0.08001875877380371,
                    "z": -0.05272064730525017
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4227005243301392,
                "transform": {
                    "location": {
                        "x": -147.6042938232422,
                        "y": 4295.13916015625,
                        "z": 372.9822998046875
                    },
                    "rotation": {
                        "roll": 0.0008571276557631791,
                        "pitch": 0.2291869819164276,
                        "yaw": 179.79104614257812
                    }
                },
                "velocity": {
                    "x": -1.4226648807525635,
                    "y": 0.008219621144235134,
                    "z": 0.005808830261230469
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.067492485046387,
                "transform": {
                    "location": {
                        "x": -90.9403076171875,
                        "y": 4294.8017578125,
                        "z": 372.7745666503906
                    },
                    "rotation": {
                        "roll": -6.103517807787284e-05,
                        "pitch": 0.22545087337493896,
                        "yaw": 179.6487274169922
                    }
                },
                "velocity": {
                    "x": -8.067273139953613,
                    "y": 0.04945102706551552,
                    "z": 0.03317641094326973
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.795858860015869,
                "transform": {
                    "location": {
                        "x": -118.9730453491211,
                        "y": 4294.970703125,
                        "z": 372.87542724609375
                    },
                    "rotation": {
                        "roll": 0.0003229572030249983,
                        "pitch": 0.2461395114660263,
                        "yaw": 179.68052673339844
                    }
                },
                "velocity": {
                    "x": -7.795681476593018,
                    "y": 0.04322913661599159,
                    "z": 0.029915712773799896
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15363118052482605,
        "expert_target_speed": 6.241552506658934,
        "target_point": [
            26.65051073366899,
            2.40703687556438
        ],
        "target_point_next": [
            30.99702670532254,
            2.2358761485956054
        ]
    },
    "475": {
        "acceleration": [
            -9.427633285522461,
            -0.5312106013298035,
            0.014237016439437866
        ],
        "angular_velocity": [
            -0.10952422767877579,
            1.915895700454712,
            2.8754734992980957
        ],
        "forward_vector": [
            -0.9990832209587097,
            -0.04194725677371025,
            0.008557692170143127
        ],
        "right_vector": [
            0.04195365682244301,
            -0.9991194009780884,
            0.0005698954337276518
        ],
        "location": [
            -136.25819396972656,
            4295.30908203125,
            372.9451599121094
        ],
        "rotation": [
            -0.0326538011431694,
            0.49032559990882874,
            -177.59580993652344
        ],
        "velocity": [
            -5.907515048980713,
            -0.27072176337242126,
            0.02264399453997612
        ],
        "speed": 5.913714934548086,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 11.826338768005371,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -148.08328247070312,
                4295.1416015625,
                372.9841613769531
            ],
            "velocity": [
                -1.0872377157211304,
                0.008085948415100574,
                0.003654556116089225
            ],
            "speed_kmh": 3.9141861313968804,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.743959903717041,
                "transform": {
                    "location": {
                        "x": -174.55624389648438,
                        "y": 4348.39111328125,
                        "z": 373.11572265625
                    },
                    "rotation": {
                        "roll": -0.007080103270709515,
                        "pitch": 0.47122156620025635,
                        "yaw": -89.79582214355469
                    }
                },
                "velocity": {
                    "x": 0.0218329019844532,
                    "y": -2.743837594985962,
                    "z": 0.0139505285769701
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -218.11741638183594,
                        "y": 4298.90673828125,
                        "z": 373.2439880371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.060428142547607,
                "transform": {
                    "location": {
                        "x": -202.76202392578125,
                        "y": 4298.82470703125,
                        "z": 373.21307373046875
                    },
                    "rotation": {
                        "roll": -0.006011962890625,
                        "pitch": -0.28640347719192505,
                        "yaw": -0.034423828125
                    }
                },
                "velocity": {
                    "x": 5.060288429260254,
                    "y": 0.019842300564050674,
                    "z": 0.03194429352879524
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.214782238006592,
                "transform": {
                    "location": {
                        "x": -202.6962432861328,
                        "y": 4302.0693359375,
                        "z": 373.1795654296875
                    },
                    "rotation": {
                        "roll": -0.003875733120366931,
                        "pitch": -0.23504045605659485,
                        "yaw": -0.178985595703125
                    }
                },
                "velocity": {
                    "x": 5.214681148529053,
                    "y": 0.008207276463508606,
                    "z": -0.031432293355464935
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.526528358459473,
                "transform": {
                    "location": {
                        "x": -174.4883575439453,
                        "y": 4325.39794921875,
                        "z": 373.12139892578125
                    },
                    "rotation": {
                        "roll": 0.0006332971970550716,
                        "pitch": -0.07965366542339325,
                        "yaw": -90.01654052734375
                    }
                },
                "velocity": {
                    "x": -0.0019673670176416636,
                    "y": -6.52652645111084,
                    "z": -0.0048828027211129665
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.738399505615234,
                "transform": {
                    "location": {
                        "x": -73.09765625,
                        "y": 4294.71630859375,
                        "z": 372.6854553222656
                    },
                    "rotation": {
                        "roll": 0.0013444386422634125,
                        "pitch": 0.33555352687835693,
                        "yaw": 179.85630798339844
                    }
                },
                "velocity": {
                    "x": -7.738289833068848,
                    "y": 0.027213241904973984,
                    "z": 0.030961254611611366
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.418017387390137,
                "transform": {
                    "location": {
                        "x": -122.4886703491211,
                        "y": 4301.69189453125,
                        "z": 372.89154052734375
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.2246927171945572,
                        "yaw": -0.3509521186351776
                    }
                },
                "velocity": {
                    "x": 13.417661666870117,
                    "y": -0.0821395292878151,
                    "z": -0.05277102813124657
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -218.0663299560547,
                        "y": 4302.15673828125,
                        "z": 373.2437744140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -57.61656188964844,
                        "y": 4294.70751953125,
                        "z": 372.6341247558594
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": 0.2363860011100769,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.38534927368164,
                "transform": {
                    "location": {
                        "x": -117.47757720947266,
                        "y": 4298.41259765625,
                        "z": 372.8697509765625
                    },
                    "rotation": {
                        "roll": 0.0007556863129138947,
                        "pitch": -0.22646856307983398,
                        "yaw": -0.3504943549633026
                    }
                },
                "velocity": {
                    "x": 13.385001182556152,
                    "y": -0.08109446614980698,
                    "z": -0.05228274315595627
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0872739553451538,
                "transform": {
                    "location": {
                        "x": -148.08328247070312,
                        "y": 4295.1416015625,
                        "z": 372.9841613769531
                    },
                    "rotation": {
                        "roll": 0.0009789299219846725,
                        "pitch": 0.21478894352912903,
                        "yaw": 179.75079345703125
                    }
                },
                "velocity": {
                    "x": -1.0872377157211304,
                    "y": 0.008085948415100574,
                    "z": 0.003654556116089225
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.060149192810059,
                "transform": {
                    "location": {
                        "x": -92.9559326171875,
                        "y": 4294.8134765625,
                        "z": 372.78271484375
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.2384692132472992,
                        "yaw": 179.648193359375
                    }
                },
                "velocity": {
                    "x": -8.059929847717285,
                    "y": 0.049495451152324677,
                    "z": 0.03292136266827583
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.4980387687683105,
                "transform": {
                    "location": {
                        "x": -120.91664123535156,
                        "y": 4294.98095703125,
                        "z": 372.88330078125
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6910858154297
                    }
                },
                "velocity": {
                    "x": -7.497868061065674,
                    "y": 0.041263651102781296,
                    "z": 0.02939411997795105
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.38052359223365784,
        "expert_target_speed": 6.822750340198993,
        "target_point": [
            25.330838676995207,
            2.177597440146971
        ],
        "target_point_next": [
            29.675731940490692,
            1.9692716973128084
        ]
    },
    "480": {
        "acceleration": [
            -0.18729209899902344,
            -0.11594116687774658,
            -0.0033937394618988037
        ],
        "angular_velocity": [
            0.138113334774971,
            -0.7724868655204773,
            -2.1501896381378174
        ],
        "forward_vector": [
            -0.9988892078399658,
            -0.046407029032707214,
            0.008169439621269703
        ],
        "right_vector": [
            0.04641271010041237,
            -0.9989222288131714,
            0.0005065164295956492
        ],
        "location": [
            -137.78640747070312,
            4295.23681640625,
            372.9510803222656
        ],
        "rotation": [
            -0.029022222384810448,
            0.46807965636253357,
            -177.34002685546875
        ],
        "velocity": [
            -6.190823078155518,
            -0.30971720814704895,
            0.022885961458086967
        ],
        "speed": 6.198565570682088,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.535699844360352,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -148.32164001464844,
                4295.1435546875,
                372.9849548339844
            ],
            "velocity": [
                -1.611939549446106,
                0.012825408950448036,
                0.0065492247231304646
            ],
            "speed_kmh": 5.803213951689138,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.152227878570557,
                "transform": {
                    "location": {
                        "x": -174.5496826171875,
                        "y": 4347.521484375,
                        "z": 373.11724853515625
                    },
                    "rotation": {
                        "roll": -0.0077209556475281715,
                        "pitch": 0.593659520149231,
                        "yaw": -89.68444061279297
                    }
                },
                "velocity": {
                    "x": 0.03424127399921417,
                    "y": -4.152082920074463,
                    "z": 0.005588006693869829
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -216.8297576904297,
                        "y": 4298.8994140625,
                        "z": 373.2389831542969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.29050874710083,
                "transform": {
                    "location": {
                        "x": -201.46717834472656,
                        "y": 4298.8291015625,
                        "z": 373.2137756347656
                    },
                    "rotation": {
                        "roll": -0.004455565474927425,
                        "pitch": -0.22628416121006012,
                        "yaw": 0.1292092651128769
                    }
                },
                "velocity": {
                    "x": 5.29044771194458,
                    "y": 0.023387039080262184,
                    "z": -0.009911336936056614
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.45242977142334,
                "transform": {
                    "location": {
                        "x": -201.36187744140625,
                        "y": 4302.0712890625,
                        "z": 373.17333984375
                    },
                    "rotation": {
                        "roll": -0.004119873046875,
                        "pitch": -0.21197490394115448,
                        "yaw": 0.0803266167640686
                    }
                },
                "velocity": {
                    "x": 5.452341079711914,
                    "y": 0.023480169475078583,
                    "z": -0.020355377346277237
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.520137786865234,
                "transform": {
                    "location": {
                        "x": -174.4883575439453,
                        "y": 4323.76806640625,
                        "z": 373.1202697753906
                    },
                    "rotation": {
                        "roll": 0.0010556253837421536,
                        "pitch": -0.07906626909971237,
                        "yaw": -90.02440643310547
                    }
                },
                "velocity": {
                    "x": -0.0035385917872190475,
                    "y": -6.520134925842285,
                    "z": -0.005015125032514334
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.38321590423584,
                "transform": {
                    "location": {
                        "x": -75.17788696289062,
                        "y": 4294.7236328125,
                        "z": 372.69427490234375
                    },
                    "rotation": {
                        "roll": 0.000492444378323853,
                        "pitch": 0.29858168959617615,
                        "yaw": 179.78436279296875
                    }
                },
                "velocity": {
                    "x": -8.383090019226074,
                    "y": 0.03137075901031494,
                    "z": 0.0334395132958889
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.4088773727417,
                "transform": {
                    "location": {
                        "x": -119.13609313964844,
                        "y": 4301.67041015625,
                        "z": 372.8783264160156
                    },
                    "rotation": {
                        "roll": 2.116399809892755e-05,
                        "pitch": -0.2277253270149231,
                        "yaw": -0.3509215712547302
                    }
                },
                "velocity": {
                    "x": 13.408522605895996,
                    "y": -0.08210991322994232,
                    "z": -0.052749574184417725
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -216.73890686035156,
                        "y": 4302.14892578125,
                        "z": 373.23858642578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -59.688045501708984,
                        "y": 4294.7197265625,
                        "z": 372.6422424316406
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": 0.2363860011100769,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.385287284851074,
                "transform": {
                    "location": {
                        "x": -114.13187408447266,
                        "y": 4298.392578125,
                        "z": 372.8565673828125
                    },
                    "rotation": {
                        "roll": -0.0003356932429596782,
                        "pitch": -0.22665297985076904,
                        "yaw": -0.348663330078125
                    }
                },
                "velocity": {
                    "x": 13.38493537902832,
                    "y": -0.08159290254116058,
                    "z": -0.05250747129321098
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6120039224624634,
                "transform": {
                    "location": {
                        "x": -148.32164001464844,
                        "y": 4295.1435546875,
                        "z": 372.9849548339844
                    },
                    "rotation": {
                        "roll": 0.001730782794766128,
                        "pitch": 0.2320898175239563,
                        "yaw": 179.8550567626953
                    }
                },
                "velocity": {
                    "x": -1.611939549446106,
                    "y": 0.012825408950448036,
                    "z": 0.0065492247231304646
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092055320739746,
                "transform": {
                    "location": {
                        "x": -94.97562408447266,
                        "y": 4294.8251953125,
                        "z": 372.7908935546875
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": 0.23892682790756226,
                        "yaw": 179.6480255126953
                    }
                },
                "velocity": {
                    "x": -8.09183406829834,
                    "y": 0.04968613013625145,
                    "z": 0.0333472341299057
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.814613342285156,
                "transform": {
                    "location": {
                        "x": -122.62203216552734,
                        "y": 4294.99072265625,
                        "z": 372.8904113769531
                    },
                    "rotation": {
                        "roll": -0.0003662108792923391,
                        "pitch": 0.18302173912525177,
                        "yaw": 179.68600463867188
                    }
                },
                "velocity": {
                    "x": -5.8144755363464355,
                    "y": 0.032705675810575485,
                    "z": 0.023136090487241745
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8388606309890747,
        "expert_target_speed": 7.039457776489357,
        "target_point": [
            23.810386701782036,
            2.0632300763213314
        ],
        "target_point_next": [
            28.15430667729654,
            1.8355102207489085
        ]
    },
    "485": {
        "acceleration": [
            0.8465194702148438,
            -2.507772445678711,
            0.002812035381793976
        ],
        "angular_velocity": [
            -1.8932572603225708,
            -0.6788009405136108,
            16.12275505065918
        ],
        "forward_vector": [
            -0.9973590970039368,
            -0.07244925945997238,
            0.005094744730740786
        ],
        "right_vector": [
            0.07247897982597351,
            -0.9973524212837219,
            0.005913170985877514
        ],
        "location": [
            -139.32249450683594,
            4295.125,
            372.9576110839844
        ],
        "rotation": [
            -0.3388061225414276,
            0.2919086217880249,
            -175.84527587890625
        ],
        "velocity": [
            -6.072401523590088,
            -0.695499837398529,
            0.023521414026618004
        ],
        "speed": 6.112101135249694,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.528813362121582,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -148.8512420654297,
                4295.1455078125,
                372.98638916015625
            ],
            "velocity": [
                -2.9839231967926025,
                0.015203254297375679,
                0.009679794311523438
            ],
            "speed_kmh": 10.742319459178313,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.414544582366943,
                "transform": {
                    "location": {
                        "x": -174.53976440429688,
                        "y": 4346.31396484375,
                        "z": 373.11834716796875
                    },
                    "rotation": {
                        "roll": -0.00842284969985485,
                        "pitch": 0.611909806728363,
                        "yaw": -89.5759506225586
                    }
                },
                "velocity": {
                    "x": 0.046606726944446564,
                    "y": -5.414341926574707,
                    "z": 0.0046287537552416325
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -215.22984313964844,
                        "y": 4298.88916015625,
                        "z": 373.23272705078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.579533576965332,
                "transform": {
                    "location": {
                        "x": -200.25328063964844,
                        "y": 4298.83447265625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.003143310546875,
                        "pitch": -0.266356885433197,
                        "yaw": 0.20333777368068695
                    }
                },
                "velocity": {
                    "x": 4.5794596672058105,
                    "y": 0.021595027297735214,
                    "z": -0.01452318113297224
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.209277153015137,
                "transform": {
                    "location": {
                        "x": -200.0301513671875,
                        "y": 4302.076171875,
                        "z": 373.16845703125
                    },
                    "rotation": {
                        "roll": -0.002593993442133069,
                        "pitch": -0.20769920945167542,
                        "yaw": 0.25535905361175537
                    }
                },
                "velocity": {
                    "x": 5.209166526794434,
                    "y": 0.02880665473639965,
                    "z": -0.017963293939828873
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.063051700592041,
                "transform": {
                    "location": {
                        "x": -174.48873901367188,
                        "y": 4322.197265625,
                        "z": 373.11907958984375
                    },
                    "rotation": {
                        "roll": 0.00032868317794054747,
                        "pitch": -0.08248818665742874,
                        "yaw": -90.0330810546875
                    }
                },
                "velocity": {
                    "x": -0.0035491229500621557,
                    "y": -6.063047885894775,
                    "z": -0.0054662893526256084
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.857500076293945,
                "transform": {
                    "location": {
                        "x": -77.19741821289062,
                        "y": 4294.73193359375,
                        "z": 372.703125
                    },
                    "rotation": {
                        "roll": 0.001458183047361672,
                        "pitch": 0.22354525327682495,
                        "yaw": 179.78732299804688
                    }
                },
                "velocity": {
                    "x": -7.857348442077637,
                    "y": 0.03554585203528404,
                    "z": 0.03355511650443077
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.41612434387207,
                "transform": {
                    "location": {
                        "x": -115.78343200683594,
                        "y": 4301.650390625,
                        "z": 372.8650817871094
                    },
                    "rotation": {
                        "roll": 0.0009769139578565955,
                        "pitch": -0.22646856307983398,
                        "yaw": -0.34649658203125
                    }
                },
                "velocity": {
                    "x": 13.415772438049316,
                    "y": -0.0812564417719841,
                    "z": -0.053133971989154816
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -215.63304138183594,
                        "y": 4302.1416015625,
                        "z": 373.2342529296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -61.721717834472656,
                        "y": 4294.73193359375,
                        "z": 372.65045166015625
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.384905815124512,
                "transform": {
                    "location": {
                        "x": -110.78617095947266,
                        "y": 4298.37353515625,
                        "z": 372.84326171875
                    },
                    "rotation": {
                        "roll": 7.204959547379985e-05,
                        "pitch": -0.22741113603115082,
                        "yaw": -0.35467529296875
                    }
                },
                "velocity": {
                    "x": 13.384552001953125,
                    "y": -0.08197539299726486,
                    "z": -0.052497293800115585
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.9839775562286377,
                "transform": {
                    "location": {
                        "x": -148.8512420654297,
                        "y": 4295.1455078125,
                        "z": 372.98638916015625
                    },
                    "rotation": {
                        "roll": 0.0007176873623393476,
                        "pitch": 0.2924208641052246,
                        "yaw": 179.71737670898438
                    }
                },
                "velocity": {
                    "x": -2.9839231967926025,
                    "y": 0.015203254297375679,
                    "z": 0.009679794311523438
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.05119800567627,
                "transform": {
                    "location": {
                        "x": -96.99327850341797,
                        "y": 4294.8369140625,
                        "z": 372.7991027832031
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": 0.23151607811450958,
                        "yaw": 179.64805603027344
                    }
                },
                "velocity": {
                    "x": -8.05097770690918,
                    "y": 0.04946305602788925,
                    "z": 0.03302816301584244
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8995093107223511,
                "transform": {
                    "location": {
                        "x": -123.30921936035156,
                        "y": 4294.99462890625,
                        "z": 372.89398193359375
                    },
                    "rotation": {
                        "roll": -0.00030517569393850863,
                        "pitch": 0.06635528057813644,
                        "yaw": 179.67724609375
                    }
                },
                "velocity": {
                    "x": -0.8994898200035095,
                    "y": 0.0052780089899897575,
                    "z": 0.002687168074771762
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9992167949676514,
        "expert_target_speed": 6.953423347132101,
        "target_point": [
            22.31595309571991,
            1.4411944730230555
        ],
        "target_point_next": [
            26.65245479159124,
            1.1002397428887565
        ]
    },
    "490": {
        "acceleration": [
            1.0871219635009766,
            -1.7657065391540527,
            -0.0061235204339027405
        ],
        "angular_velocity": [
            -0.214718297123909,
            -0.34840455651283264,
            14.558736801147461
        ],
        "forward_vector": [
            -0.9894497394561768,
            -0.14483974874019623,
            0.0032660900615155697
        ],
        "right_vector": [
            0.1448660045862198,
            -0.9893983602523804,
            0.010231100022792816
        ],
        "location": [
            -140.806396484375,
            4294.8935546875,
            372.9636535644531
        ],
        "rotation": [
            -0.5862122178077698,
            0.18713350594043732,
            -171.6719512939453
        ],
        "velocity": [
            -5.809943199157715,
            -1.203189730644226,
            0.02151838317513466
        ],
        "speed": 5.933220500315719,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.959056854248047,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -149.76171875,
                4295.15087890625,
                372.9897155761719
            ],
            "velocity": [
                -3.7042269706726074,
                0.02258886583149433,
                0.013154659420251846
            ],
            "speed_kmh": 13.33554912811181,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.750692844390869,
                "transform": {
                    "location": {
                        "x": -174.5281982421875,
                        "y": 4344.95703125,
                        "z": 373.1200256347656
                    },
                    "rotation": {
                        "roll": -0.005676249507814646,
                        "pitch": 0.3087996542453766,
                        "yaw": -89.52367401123047
                    }
                },
                "velocity": {
                    "x": 0.051216185092926025,
                    "y": -5.75046443939209,
                    "z": 0.0018923282623291016
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -214.0235137939453,
                        "y": 4298.8818359375,
                        "z": 373.22802734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.404937267303467,
                "transform": {
                    "location": {
                        "x": -198.9992218017578,
                        "y": 4298.84033203125,
                        "z": 373.20556640625
                    },
                    "rotation": {
                        "roll": -0.0032043454702943563,
                        "pitch": -0.15478573739528656,
                        "yaw": 0.23265549540519714
                    }
                },
                "velocity": {
                    "x": 5.404845237731934,
                    "y": 0.025698494166135788,
                    "z": -0.018192358314990997
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.156038284301758,
                "transform": {
                    "location": {
                        "x": -198.74085998535156,
                        "y": 4302.0830078125,
                        "z": 373.1639404296875
                    },
                    "rotation": {
                        "roll": -0.001434326171875,
                        "pitch": -0.2100214809179306,
                        "yaw": 0.27884745597839355
                    }
                },
                "velocity": {
                    "x": 5.155978679656982,
                    "y": 0.017553383484482765,
                    "z": -0.017458247020840645
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.0784173011779785,
                "transform": {
                    "location": {
                        "x": -174.490234375,
                        "y": 4320.6796875,
                        "z": 373.1177673339844
                    },
                    "rotation": {
                        "roll": -3.0515764592564665e-05,
                        "pitch": -0.08251550793647766,
                        "yaw": -90.03792572021484
                    }
                },
                "velocity": {
                    "x": -0.0040184855461120605,
                    "y": -6.078413486480713,
                    "z": -0.00596071220934391
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.090755462646484,
                "transform": {
                    "location": {
                        "x": -79.18093872070312,
                        "y": 4294.7412109375,
                        "z": 372.7112121582031
                    },
                    "rotation": {
                        "roll": 0.0007314064423553646,
                        "pitch": 0.24540868401527405,
                        "yaw": 179.71798706054688
                    }
                },
                "velocity": {
                    "x": -8.090591430664062,
                    "y": 0.03908606991171837,
                    "z": 0.03345918655395508
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.409565925598145,
                "transform": {
                    "location": {
                        "x": -112.43093872070312,
                        "y": 4301.63134765625,
                        "z": 372.8517761230469
                    },
                    "rotation": {
                        "roll": 0.00018894301319960505,
                        "pitch": -0.22677592933177948,
                        "yaw": -0.341766357421875
                    }
                },
                "velocity": {
                    "x": 13.409224510192871,
                    "y": -0.08021008223295212,
                    "z": -0.0522286556661129
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -214.04139709472656,
                        "y": 4302.1318359375,
                        "z": 373.22808837890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -63.69851303100586,
                        "y": 4294.744140625,
                        "z": 372.6585388183594
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.384910583496094,
                "transform": {
                    "location": {
                        "x": -107.44046783447266,
                        "y": 4298.3515625,
                        "z": 372.8298645019531
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.229125514626503,
                        "yaw": -0.3501281142234802
                    }
                },
                "velocity": {
                    "x": 13.384552955627441,
                    "y": -0.08224622905254364,
                    "z": -0.0529581680893898
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.7043190002441406,
                "transform": {
                    "location": {
                        "x": -149.76171875,
                        "y": 4295.15087890625,
                        "z": 372.9897155761719
                    },
                    "rotation": {
                        "roll": 0.0008752286084927619,
                        "pitch": 0.2836577296257019,
                        "yaw": 179.71507263183594
                    }
                },
                "velocity": {
                    "x": -3.7042269706726074,
                    "y": 0.02258886583149433,
                    "z": 0.013154659420251846
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.08460521697998,
                "transform": {
                    "location": {
                        "x": -99.0102310180664,
                        "y": 4294.84912109375,
                        "z": 372.8072509765625
                    },
                    "rotation": {
                        "roll": -0.00018310538143850863,
                        "pitch": 0.2346784621477127,
                        "yaw": 179.64283752441406
                    }
                },
                "velocity": {
                    "x": -8.084378242492676,
                    "y": 0.05048394203186035,
                    "z": 0.033512648195028305
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5081943273544312,
                "transform": {
                    "location": {
                        "x": -123.61905670166016,
                        "y": 4294.99755859375,
                        "z": 372.89385986328125
                    },
                    "rotation": {
                        "roll": 0.0006411246722564101,
                        "pitch": 0.20980973541736603,
                        "yaw": 179.76438903808594
                    }
                },
                "velocity": {
                    "x": -1.508161187171936,
                    "y": 0.00781936477869749,
                    "z": 0.006227321457117796
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9982374906539917,
        "expert_target_speed": 6.809269595593075,
        "target_point": [
            20.85988597913027,
            -0.20072165953228316
        ],
        "target_point_next": [
            25.16007666970076,
            -0.8563565510890663
        ]
    },
    "495": {
        "acceleration": [
            1.0393428802490234,
            -1.303422451019287,
            0.0018089264631271362
        ],
        "angular_velocity": [
            0.2990598678588867,
            -0.01787460409104824,
            20.219467163085938
        ],
        "forward_vector": [
            -0.9753044247627258,
            -0.22085076570510864,
            0.0024957628920674324
        ],
        "right_vector": [
            0.22086480259895325,
            -0.9752498865127563,
            0.010317936539649963
        ],
        "location": [
            -142.22569274902344,
            4294.55517578125,
            372.9691467285156
        ],
        "rotation": [
            -0.5911865234375,
            0.14299683272838593,
            -167.24095153808594
        ],
        "velocity": [
            -5.536189556121826,
            -1.5961222648620605,
            0.02160598710179329
        ],
        "speed": 5.761683875890864,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 7.941149711608887,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -150.144287109375,
                4295.15283203125,
                372.9920959472656
            ],
            "velocity": [
                -1.5753644704818726,
                0.011099649593234062,
                0.008125705644488335
            ],
            "speed_kmh": 5.671528301652252,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.469749927520752,
                "transform": {
                    "location": {
                        "x": -174.5146026611328,
                        "y": 4343.26171875,
                        "z": 373.1194152832031
                    },
                    "rotation": {
                        "roll": 0.019244585186243057,
                        "pitch": 0.6018899083137512,
                        "yaw": -89.56179809570312
                    }
                },
                "velocity": {
                    "x": 0.04271160811185837,
                    "y": -7.469627380371094,
                    "z": 0.0018111324170604348
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -212.84225463867188,
                        "y": 4298.875,
                        "z": 373.2235107421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.738966941833496,
                "transform": {
                    "location": {
                        "x": -197.61585998535156,
                        "y": 4298.84228515625,
                        "z": 373.20068359375
                    },
                    "rotation": {
                        "roll": 0.00353577290661633,
                        "pitch": -0.15856283903121948,
                        "yaw": 0.05060549080371857
                    }
                },
                "velocity": {
                    "x": 5.738927364349365,
                    "y": -0.003061591647565365,
                    "z": -0.0210837684571743
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.508988380432129,
                "transform": {
                    "location": {
                        "x": -197.42843627929688,
                        "y": 4302.0869140625,
                        "z": 373.1590576171875
                    },
                    "rotation": {
                        "roll": 0.0013275203527882695,
                        "pitch": -0.1942369043827057,
                        "yaw": 0.17159044742584229
                    }
                },
                "velocity": {
                    "x": 5.508955001831055,
                    "y": 0.005765590351074934,
                    "z": -0.018252363428473473
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.631187915802002,
                "transform": {
                    "location": {
                        "x": -174.49156188964844,
                        "y": 4319.21826171875,
                        "z": 373.11651611328125
                    },
                    "rotation": {
                        "roll": -9.155066800303757e-05,
                        "pitch": -0.09466641396284103,
                        "yaw": -90.04297637939453
                    }
                },
                "velocity": {
                    "x": -0.004219456110149622,
                    "y": -5.631184101104736,
                    "z": -0.0052484795451164246
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.079075813293457,
                "transform": {
                    "location": {
                        "x": -81.21296691894531,
                        "y": 4294.7509765625,
                        "z": 372.7196044921875
                    },
                    "rotation": {
                        "roll": 0.001041738665662706,
                        "pitch": 0.23977378010749817,
                        "yaw": 179.73190307617188
                    }
                },
                "velocity": {
                    "x": -8.078901290893555,
                    "y": 0.0414588637650013,
                    "z": 0.03330826759338379
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.416767120361328,
                "transform": {
                    "location": {
                        "x": -109.07843780517578,
                        "y": 4301.61181640625,
                        "z": 372.83843994140625
                    },
                    "rotation": {
                        "roll": 0.0009606207022443414,
                        "pitch": -0.22896841168403625,
                        "yaw": -0.34136962890625
                    }
                },
                "velocity": {
                    "x": 13.416422843933105,
                    "y": -0.07998224347829819,
                    "z": -0.05329952761530876
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -212.859375,
                        "y": 4302.125,
                        "z": 373.2235412597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -65.73046875,
                        "y": 4294.75537109375,
                        "z": 372.66693115234375
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.384971618652344,
                "transform": {
                    "location": {
                        "x": -104.09476470947266,
                        "y": 4298.3310546875,
                        "z": 372.8165283203125
                    },
                    "rotation": {
                        "roll": 0.00014705966168548912,
                        "pitch": -0.22902989387512207,
                        "yaw": -0.3531188368797302
                    }
                },
                "velocity": {
                    "x": 13.384618759155273,
                    "y": -0.08170771598815918,
                    "z": -0.05251644179224968
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5754245519638062,
                "transform": {
                    "location": {
                        "x": -150.144287109375,
                        "y": 4295.15283203125,
                        "z": 372.9920959472656
                    },
                    "rotation": {
                        "roll": 0.0007387506193481386,
                        "pitch": 0.14725887775421143,
                        "yaw": 179.6630859375
                    }
                },
                "velocity": {
                    "x": -1.5753644704818726,
                    "y": 0.011099649593234062,
                    "z": 0.008125705644488335
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.057828903198242,
                "transform": {
                    "location": {
                        "x": -101.02765655517578,
                        "y": 4294.86083984375,
                        "z": 372.8153381347656
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.23547758162021637,
                        "yaw": 179.64154052734375
                    }
                },
                "velocity": {
                    "x": -8.05760383605957,
                    "y": 0.050379473716020584,
                    "z": 0.03290782868862152
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1170496940612793,
                "transform": {
                    "location": {
                        "x": -124.07640075683594,
                        "y": 4295.0,
                        "z": 372.8953857421875
                    },
                    "rotation": {
                        "roll": 0.0006983839557506144,
                        "pitch": 0.2448759227991104,
                        "yaw": 179.84588623046875
                    }
                },
                "velocity": {
                    "x": -2.117008686065674,
                    "y": 0.011322368867695332,
                    "z": 0.006774930749088526
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0007606744766235,
        "expert_target_speed": 6.647150104840619,
        "target_point": [
            19.323049859639045,
            -1.8282817310476638
        ],
        "target_point_next": [
            23.559734996264968,
            -2.814180376644075
        ]
    },
    "500": {
        "acceleration": [
            -0.03952980041503906,
            0.5288791656494141,
            0.007531382143497467
        ],
        "angular_velocity": [
            1.3502073287963867,
            0.5213564038276672,
            -1.0926414728164673
        ],
        "forward_vector": [
            -0.965803861618042,
            -0.2592611014842987,
            0.002559301210567355
        ],
        "right_vector": [
            0.2592678368091583,
            -0.965801477432251,
            0.002769673941656947
        ],
        "location": [
            -143.595458984375,
            4294.17236328125,
            372.9742126464844
        ],
        "rotation": [
            -0.15869134664535522,
            0.14663732051849365,
            -164.97372436523438
        ],
        "velocity": [
            -5.445734977722168,
            -1.5122337341308594,
            0.02119269408285618
        ],
        "speed": 5.651803279859449,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 7.056157112121582,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -150.58265686035156,
                4295.15625,
                372.9938049316406
            ],
            "velocity": [
                -0.18527324497699738,
                -0.0015642436919733882,
                -0.003920163959264755
            ],
            "speed_kmh": 0.6671567345319991,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.46237564086914,
                "transform": {
                    "location": {
                        "x": -174.50428771972656,
                        "y": 4341.23388671875,
                        "z": 373.1199645996094
                    },
                    "rotation": {
                        "roll": 0.021294336766004562,
                        "pitch": 0.5508615374565125,
                        "yaw": -89.726318359375
                    }
                },
                "velocity": {
                    "x": 0.0354500412940979,
                    "y": -8.462300300598145,
                    "z": 0.0020354462321847677
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.258531093597412,
                "transform": {
                    "location": {
                        "x": -211.37124633789062,
                        "y": 4298.8701171875,
                        "z": 373.2351379394531
                    },
                    "rotation": {
                        "roll": -0.007659911643713713,
                        "pitch": -0.5518792271614075,
                        "yaw": -0.22354121506214142
                    }
                },
                "velocity": {
                    "x": 3.2572717666625977,
                    "y": 0.010291478596627712,
                    "z": 0.08999712020158768
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.509272575378418,
                "transform": {
                    "location": {
                        "x": -196.1853790283203,
                        "y": 4298.841796875,
                        "z": 373.1960144042969
                    },
                    "rotation": {
                        "roll": -0.0007019042386673391,
                        "pitch": -0.21426302194595337,
                        "yaw": -0.011016845703125
                    }
                },
                "velocity": {
                    "x": 5.509232521057129,
                    "y": -0.004858583677560091,
                    "z": -0.020490474998950958
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.721681594848633,
                "transform": {
                    "location": {
                        "x": -195.9765625,
                        "y": 4302.0888671875,
                        "z": 373.1539306640625
                    },
                    "rotation": {
                        "roll": 0.00022349230130203068,
                        "pitch": -0.1958010196685791,
                        "yaw": 0.02522057108581066
                    }
                },
                "velocity": {
                    "x": 5.721640586853027,
                    "y": 0.0006266951677389443,
                    "z": -0.02162165194749832
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.667230606079102,
                "transform": {
                    "location": {
                        "x": -174.49351501464844,
                        "y": 4317.8056640625,
                        "z": 373.1150817871094
                    },
                    "rotation": {
                        "roll": 0.000580513384193182,
                        "pitch": -0.08767230063676834,
                        "yaw": -90.04625701904297
                    }
                },
                "velocity": {
                    "x": -0.004514136351644993,
                    "y": -5.6672258377075195,
                    "z": -0.005972022656351328
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.000219345092773,
                "transform": {
                    "location": {
                        "x": -83.21624755859375,
                        "y": 4294.76123046875,
                        "z": 372.7278137207031
                    },
                    "rotation": {
                        "roll": 0.0013964427635073662,
                        "pitch": 0.23151607811450958,
                        "yaw": 179.68038940429688
                    }
                },
                "velocity": {
                    "x": -8.000025749206543,
                    "y": 0.044778212904930115,
                    "z": 0.03307969868183136
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.409875869750977,
                "transform": {
                    "location": {
                        "x": -105.72593688964844,
                        "y": 4301.59228515625,
                        "z": 372.8250732421875
                    },
                    "rotation": {
                        "roll": -6.1035138060105965e-05,
                        "pitch": -0.22928260266780853,
                        "yaw": -0.3399962782859802
                    }
                },
                "velocity": {
                    "x": 13.40953254699707,
                    "y": -0.0798138827085495,
                    "z": -0.05346699431538582
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.261646032333374,
                "transform": {
                    "location": {
                        "x": -211.38726806640625,
                        "y": 4302.1201171875,
                        "z": 373.2351989746094
                    },
                    "rotation": {
                        "roll": -0.007690429221838713,
                        "pitch": -0.5524598360061646,
                        "yaw": -0.2226562201976776
                    }
                },
                "velocity": {
                    "x": 3.260362148284912,
                    "y": 0.010160229168832302,
                    "z": 0.09094074368476868
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -67.73640441894531,
                        "y": 4294.767578125,
                        "z": 372.6751403808594
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.385002136230469,
                "transform": {
                    "location": {
                        "x": -100.74906158447266,
                        "y": 4298.3115234375,
                        "z": 372.8030700683594
                    },
                    "rotation": {
                        "roll": 0.00014861345698591322,
                        "pitch": -0.23013637959957123,
                        "yaw": -0.3429870307445526
                    }
                },
                "velocity": {
                    "x": 13.384653091430664,
                    "y": -0.08101624995470047,
                    "z": -0.052847668528556824
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.18532131612300873,
                "transform": {
                    "location": {
                        "x": -150.58265686035156,
                        "y": 4295.15625,
                        "z": 372.9938049316406
                    },
                    "rotation": {
                        "roll": -0.0013122553937137127,
                        "pitch": 0.12290924787521362,
                        "yaw": 179.64480590820312
                    }
                },
                "velocity": {
                    "x": -0.18527324497699738,
                    "y": -0.0015642436919733882,
                    "z": -0.003920163959264755
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.085311889648438,
                "transform": {
                    "location": {
                        "x": -103.0453872680664,
                        "y": 4294.873046875,
                        "z": 372.8234558105469
                    },
                    "rotation": {
                        "roll": 0.00015110967797227204,
                        "pitch": 0.23193955421447754,
                        "yaw": 179.64022827148438
                    }
                },
                "velocity": {
                    "x": -8.085078239440918,
                    "y": 0.05171556398272514,
                    "z": 0.03310822322964668
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6163525581359863,
                "transform": {
                    "location": {
                        "x": -124.66983795166016,
                        "y": 4295.0048828125,
                        "z": 372.8976745605469
                    },
                    "rotation": {
                        "roll": 0.00028009022935293615,
                        "pitch": 0.24390603601932526,
                        "yaw": 179.9525146484375
                    }
                },
                "velocity": {
                    "x": -2.616297960281372,
                    "y": 0.013697164133191109,
                    "z": 0.00989720318466425
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9996293187141418,
        "expert_target_speed": 6.536108890853021,
        "target_point": [
            17.81341705345342,
            -2.6058749325574455
        ],
        "target_point_next": [
            22.007782992695216,
            -3.758607101807593
        ]
    },
    "505": {
        "acceleration": [
            -0.4802703857421875,
            0.4067230224609375,
            -1.3522803783416748e-05
        ],
        "angular_velocity": [
            0.44958046078681946,
            0.3359279930591583,
            -0.21264426410198212
        ],
        "forward_vector": [
            -0.9672098159790039,
            -0.2539544403553009,
            0.003500215709209442
        ],
        "right_vector": [
            0.25394922494888306,
            -0.9672157764434814,
            -0.001866145757958293
        ],
        "location": [
            -144.9677276611328,
            4293.81298828125,
            372.9791259765625
        ],
        "rotation": [
            0.10692299157381058,
            0.20054800808429718,
            -165.28826904296875
        ],
        "velocity": [
            -5.5399675369262695,
            -1.3821569681167603,
            0.021125487983226776
        ],
        "speed": 5.709780923530309,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 5.968571662902832,
        "front_vehicle_info": {
            "id": 3713,
            "type": "vehicle.audi.tt",
            "location": [
                -150.78225708007812,
                4295.16015625,
                372.99432373046875
            ],
            "velocity": [
                -0.3398204445838928,
                0.0026640647556632757,
                -8.288383105536923e-05
            ],
            "speed_kmh": 1.2233912297938812,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -225.6638946533203,
                        "y": 4298.95068359375,
                        "z": 373.5246887207031
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -225.64468383789062,
                        "y": 4302.20068359375,
                        "z": 373.5246887207031
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.928444862365723,
                "transform": {
                    "location": {
                        "x": -174.49594116210938,
                        "y": 4339.18359375,
                        "z": 373.1219177246094
                    },
                    "rotation": {
                        "roll": 0.011070461012423038,
                        "pitch": 0.0734996646642685,
                        "yaw": -89.75677490234375
                    }
                },
                "velocity": {
                    "x": 0.03159777447581291,
                    "y": -7.92838191986084,
                    "z": 0.0012438773410394788
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9734982252120972,
                "transform": {
                    "location": {
                        "x": -211.041015625,
                        "y": 4298.87109375,
                        "z": 373.2491760253906
                    },
                    "rotation": {
                        "roll": 0.0009252983145415783,
                        "pitch": -0.5115674734115601,
                        "yaw": -0.1263122409582138
                    }
                },
                "velocity": {
                    "x": 0.9731482267379761,
                    "y": 0.0077382223680615425,
                    "z": 0.02492710016667843
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.2271013259887695,
                "transform": {
                    "location": {
                        "x": -194.8866424560547,
                        "y": 4298.84130859375,
                        "z": 373.19146728515625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.23855116963386536,
                        "yaw": -0.0379638709127903
                    }
                },
                "velocity": {
                    "x": 5.22706937789917,
                    "y": -0.0034092036075890064,
                    "z": -0.017912693321704865
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.016451835632324,
                "transform": {
                    "location": {
                        "x": -194.64022827148438,
                        "y": 4302.0888671875,
                        "z": 373.14935302734375
                    },
                    "rotation": {
                        "roll": 0.0005700105684809387,
                        "pitch": -0.22409166395664215,
                        "yaw": -0.010986329056322575
                    }
                },
                "velocity": {
                    "x": 5.016421794891357,
                    "y": -0.0014956498052924871,
                    "z": -0.017284898087382317
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.232181072235107,
                "transform": {
                    "location": {
                        "x": -174.49546813964844,
                        "y": 4316.4453125,
                        "z": 373.1136779785156
                    },
                    "rotation": {
                        "roll": 0.0004341011226642877,
                        "pitch": -0.09460494667291641,
                        "yaw": -90.04751586914062
                    }
                },
                "velocity": {
                    "x": -0.004292876459658146,
                    "y": -5.232175827026367,
                    "z": -0.005862388294190168
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075419425964355,
                "transform": {
                    "location": {
                        "x": -85.22757720947266,
                        "y": 4294.77197265625,
                        "z": 372.7359924316406
                    },
                    "rotation": {
                        "roll": 0.0005468907183967531,
                        "pitch": 0.23818235099315643,
                        "yaw": 179.70339965820312
                    }
                },
                "velocity": {
                    "x": -8.07523250579834,
                    "y": 0.04432600736618042,
                    "z": 0.032416075468063354
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.416876792907715,
                "transform": {
                    "location": {
                        "x": -102.37335968017578,
                        "y": 4301.572265625,
                        "z": 372.8116455078125
                    },
                    "rotation": {
                        "roll": 0.00029921415261924267,
                        "pitch": -0.22964461147785187,
                        "yaw": -0.3415526747703552
                    }
                },
                "velocity": {
                    "x": 13.416534423828125,
                    "y": -0.07990583777427673,
                    "z": -0.05299100652337074
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9788539409637451,
                "transform": {
                    "location": {
                        "x": -211.05584716796875,
                        "y": 4302.12109375,
                        "z": 373.24932861328125
                    },
                    "rotation": {
                        "roll": -0.0015563963679596782,
                        "pitch": -0.5107751488685608,
                        "yaw": -0.1245422214269638
                    }
                },
                "velocity": {
                    "x": 0.9785254597663879,
                    "y": 0.007559690158814192,
                    "z": 0.024202585220336914
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -69.74546813964844,
                        "y": 4294.779296875,
                        "z": 372.6835021972656
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.385022163391113,
                "transform": {
                    "location": {
                        "x": -97.40335845947266,
                        "y": 4298.2919921875,
                        "z": 372.78955078125
                    },
                    "rotation": {
                        "roll": -0.0006713866605423391,
                        "pitch": -0.23168683052062988,
                        "yaw": -0.345184326171875
                    }
                },
                "velocity": {
                    "x": 13.384675025939941,
                    "y": -0.08054406195878983,
                    "z": -0.05309522524476051
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.3398309051990509,
                "transform": {
                    "location": {
                        "x": -150.78225708007812,
                        "y": 4295.16015625,
                        "z": 372.99432373046875
                    },
                    "rotation": {
                        "roll": -0.0005493162898346782,
                        "pitch": 0.13770343363285065,
                        "yaw": 179.85189819335938
                    }
                },
                "velocity": {
                    "x": -0.3398204445838928,
                    "y": 0.0026640647556632757,
                    "z": -8.288383105536923e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.054722785949707,
                "transform": {
                    "location": {
                        "x": -105.06281280517578,
                        "y": 4294.88671875,
                        "z": 372.83154296875
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": 0.23114041984081268,
                        "yaw": 179.63787841796875
                    }
                },
                "velocity": {
                    "x": -8.054494857788086,
                    "y": 0.05090327933430672,
                    "z": 0.032952163368463516
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.1820056438446045,
                "transform": {
                    "location": {
                        "x": -125.39749908447266,
                        "y": 4295.0087890625,
                        "z": 372.9005432128906
                    },
                    "rotation": {
                        "roll": 0.0004944978281855583,
                        "pitch": 0.2435508668422699,
                        "yaw": 179.93470764160156
                    }
                },
                "velocity": {
                    "x": -3.1819396018981934,
                    "y": 0.016696859151124954,
                    "z": 0.011933974921703339
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0006085634231567,
        "expert_target_speed": 6.568004332133329,
        "target_point": [
            16.408909004895644,
            -2.5071414655088438
        ],
        "target_point_next": [
            20.609540006473633,
            -3.636830039797246
        ]
    },
    "510": {
        "acceleration": [
            -0.9531021118164062,
            0.6285905838012695,
            0.005679689347743988
        ],
        "angular_velocity": [
            0.3725118339061737,
            0.2972833216190338,
            -9.2814359664917
        ],
        "forward_vector": [
            -0.9723430871963501,
            -0.23351739346981049,
            0.004294859245419502
        ],
        "right_vector": [
            0.233501136302948,
            -0.9723484516143799,
            -0.003971178084611893
        ],
        "location": [
            -146.3727264404297,
            4293.47998046875,
            372.9842529296875
        ],
        "rotation": [
            0.2275344282388687,
            0.24607804417610168,
            -166.49563598632812
        ],
        "velocity": [
            -5.7156877517700195,
            -1.249042272567749,
            0.021576108410954475
        ],
        "speed": 5.850572029673255,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 75.15798950195312,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2603759765625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -224.43084716796875,
                        "y": 4298.943359375,
                        "z": 373.31939697265625
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -224.41163635253906,
                        "y": 4302.193359375,
                        "z": 373.31939697265625
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9212327003479,
                "transform": {
                    "location": {
                        "x": -174.49046325683594,
                        "y": 4337.2255859375,
                        "z": 373.1222229003906
                    },
                    "rotation": {
                        "roll": 0.01939714141190052,
                        "pitch": -0.010832679457962513,
                        "yaw": -89.87261199951172
                    }
                },
                "velocity": {
                    "x": 0.012408701702952385,
                    "y": -7.921223163604736,
                    "z": 0.0012823104625567794
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9364626407623291,
                "transform": {
                    "location": {
                        "x": -210.80078125,
                        "y": 4298.87255859375,
                        "z": 373.24951171875
                    },
                    "rotation": {
                        "roll": 0.00019483361393213272,
                        "pitch": -0.28125351667404175,
                        "yaw": -0.058624256402254105
                    }
                },
                "velocity": {
                    "x": 0.9364339113235474,
                    "y": 0.007287388201802969,
                    "z": 0.000814304337836802
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.045017242431641,
                "transform": {
                    "location": {
                        "x": -193.58163452148438,
                        "y": 4298.8388671875,
                        "z": 373.18682861328125
                    },
                    "rotation": {
                        "roll": 0.0029688167851418257,
                        "pitch": -0.22174207866191864,
                        "yaw": -0.0050048828125
                    }
                },
                "velocity": {
                    "x": 5.044958591461182,
                    "y": -0.016961857676506042,
                    "z": -0.01747099868953228
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.105815410614014,
                "transform": {
                    "location": {
                        "x": -193.37625122070312,
                        "y": 4302.087890625,
                        "z": 373.1448059082031
                    },
                    "rotation": {
                        "roll": 0.00017288564413320273,
                        "pitch": -0.20642197132110596,
                        "yaw": 0.02564045786857605
                    }
                },
                "velocity": {
                    "x": 5.105770587921143,
                    "y": -0.012461267411708832,
                    "z": -0.017391767352819443
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.008880138397217,
                "transform": {
                    "location": {
                        "x": -174.4969482421875,
                        "y": 4315.13427734375,
                        "z": 373.1121826171875
                    },
                    "rotation": {
                        "roll": 0.0006324106361716986,
                        "pitch": -0.11148234456777573,
                        "yaw": -90.04512786865234
                    }
                },
                "velocity": {
                    "x": -0.003815188305452466,
                    "y": -5.008875846862793,
                    "z": -0.005295295733958483
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.038920402526855,
                "transform": {
                    "location": {
                        "x": -87.24226379394531,
                        "y": 4294.78369140625,
                        "z": 372.7442932128906
                    },
                    "rotation": {
                        "roll": 0.00020829332061111927,
                        "pitch": 0.23449404537677765,
                        "yaw": 179.65841674804688
                    }
                },
                "velocity": {
                    "x": -8.038708686828613,
                    "y": 0.04803149774670601,
                    "z": 0.03315989300608635
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.4099760055542,
                "transform": {
                    "location": {
                        "x": -99.02085876464844,
                        "y": 4301.55322265625,
                        "z": 372.7981262207031
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": -0.23215128481388092,
                        "yaw": -0.3416748046875
                    }
                },
                "velocity": {
                    "x": 13.40963363647461,
                    "y": -0.0799420177936554,
                    "z": -0.053018052130937576
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9417504072189331,
                "transform": {
                    "location": {
                        "x": -210.8142852783203,
                        "y": 4302.12255859375,
                        "z": 373.2496337890625
                    },
                    "rotation": {
                        "roll": -0.00152587890625,
                        "pitch": -0.2808232009410858,
                        "yaw": -0.057037353515625
                    }
                },
                "velocity": {
                    "x": 0.9417224526405334,
                    "y": 0.007203756365925074,
                    "z": 0.0008756446768529713
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -71.76116943359375,
                        "y": 4294.791015625,
                        "z": 372.6918029785156
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.385062217712402,
                "transform": {
                    "location": {
                        "x": -94.05765533447266,
                        "y": 4298.2724609375,
                        "z": 372.7760009765625
                    },
                    "rotation": {
                        "roll": 0.0009974465938284993,
                        "pitch": -0.2323288768529892,
                        "yaw": -0.3392943739891052
                    }
                },
                "velocity": {
                    "x": 13.38471794128418,
                    "y": -0.08010611683130264,
                    "z": -0.052898287773132324
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013430713443085551,
                "transform": {
                    "location": {
                        "x": -150.92608642578125,
                        "y": 4295.15869140625,
                        "z": 372.9947814941406
                    },
                    "rotation": {
                        "roll": 0.0004295472172088921,
                        "pitch": 0.14772331714630127,
                        "yaw": 179.62835693359375
                    }
                },
                "velocity": {
                    "x": 2.4941711671999656e-05,
                    "y": -0.00010506888793315738,
                    "z": -0.0013387228827923536
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.086043357849121,
                "transform": {
                    "location": {
                        "x": -107.0805435180664,
                        "y": 4294.89990234375,
                        "z": 372.8396301269531
                    },
                    "rotation": {
                        "roll": -0.0012207027757540345,
                        "pitch": 0.23269769549369812,
                        "yaw": 179.6387176513672
                    }
                },
                "velocity": {
                    "x": -8.085822105407715,
                    "y": 0.05002989247441292,
                    "z": 0.03279361501336098
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.839308977127075,
                "transform": {
                    "location": {
                        "x": -126.27171325683594,
                        "y": 4295.01220703125,
                        "z": 372.9040222167969
                    },
                    "rotation": {
                        "roll": -0.0008850094745866954,
                        "pitch": 0.2466517835855484,
                        "yaw": 179.84185791015625
                    }
                },
                "velocity": {
                    "x": -3.8392229080200195,
                    "y": 0.021436942741274834,
                    "z": 0.014202098362147808
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7944254875183105,
        "expert_target_speed": 6.661469390399121,
        "target_point": [
            15.014176176205819,
            -2.1565422402729615
        ],
        "target_point_next": [
            19.237678050482398,
            -3.197469233043398
        ]
    },
    "515": {
        "acceleration": [
            -2.3747634887695312,
            0.3908705711364746,
            -0.004997663199901581
        ],
        "angular_velocity": [
            0.10069605708122253,
            0.5330691933631897,
            -4.562690258026123
        ],
        "forward_vector": [
            -0.9788885712623596,
            -0.20431549847126007,
            0.005698172841221094
        ],
        "right_vector": [
            0.20428596436977386,
            -0.9788966178894043,
            -0.005361337214708328
        ],
        "location": [
            -147.8468780517578,
            4293.1796875,
            372.98944091796875
        ],
        "rotation": [
            0.3071884512901306,
            0.32648301124572754,
            -168.2103729248047
        ],
        "velocity": [
            -6.134864330291748,
            -1.1236884593963623,
            0.021254433318972588
        ],
        "speed": 6.23692521238363,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 73.68029022216797,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2603759765625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -223.59765625,
                        "y": 4298.9384765625,
                        "z": 373.31182861328125
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -223.57835388183594,
                        "y": 4302.1884765625,
                        "z": 373.31182861328125
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.843377590179443,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4335.2333984375,
                        "z": 373.1221008300781
                    },
                    "rotation": {
                        "roll": 0.010923248715698719,
                        "pitch": -0.013277887366712093,
                        "yaw": -89.90823364257812
                    }
                },
                "velocity": {
                    "x": 0.009348886087536812,
                    "y": -7.843371868133545,
                    "z": -0.001764431013725698
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.7276229858398438,
                "transform": {
                    "location": {
                        "x": -210.47132873535156,
                        "y": 4298.8740234375,
                        "z": 373.2478332519531
                    },
                    "rotation": {
                        "roll": -0.00213623046875,
                        "pitch": -0.17306332290172577,
                        "yaw": 0.02308662235736847
                    }
                },
                "velocity": {
                    "x": 1.7275642156600952,
                    "y": 0.013050302863121033,
                    "z": -0.00574397062882781
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.568533420562744,
                "transform": {
                    "location": {
                        "x": -192.3546905517578,
                        "y": 4298.8349609375,
                        "z": 373.1824645996094
                    },
                    "rotation": {
                        "roll": 0.0012282434618100524,
                        "pitch": -0.24206189811229706,
                        "yaw": -0.15850830078125
                    }
                },
                "velocity": {
                    "x": 4.568462371826172,
                    "y": -0.018657708540558815,
                    "z": -0.017299089580774307
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9439632892608643,
                "transform": {
                    "location": {
                        "x": -192.5672607421875,
                        "y": 4302.08740234375,
                        "z": 373.14263916015625
                    },
                    "rotation": {
                        "roll": 0.0015810715267434716,
                        "pitch": -0.3080756664276123,
                        "yaw": -0.3352965712547302
                    }
                },
                "velocity": {
                    "x": 0.9439367651939392,
                    "y": -0.006126650609076023,
                    "z": -0.00354251847602427
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0022014451678842306,
                "transform": {
                    "location": {
                        "x": -174.50132751464844,
                        "y": 4314.60693359375,
                        "z": 373.11053466796875
                    },
                    "rotation": {
                        "roll": 0.009457433596253395,
                        "pitch": -0.6922327876091003,
                        "yaw": -91.0802993774414
                    }
                },
                "velocity": {
                    "x": -0.00025373176322318614,
                    "y": 0.0015679610660299659,
                    "z": 0.0015242963563650846
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.043700218200684,
                "transform": {
                    "location": {
                        "x": -89.25109100341797,
                        "y": 4294.79541015625,
                        "z": 372.75250244140625
                    },
                    "rotation": {
                        "roll": 0.000649824331048876,
                        "pitch": 0.2357029914855957,
                        "yaw": 179.6884765625
                    }
                },
                "velocity": {
                    "x": -8.043501853942871,
                    "y": 0.04583422467112541,
                    "z": 0.03314830735325813
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.417015075683594,
                "transform": {
                    "location": {
                        "x": -95.66828155517578,
                        "y": 4301.53369140625,
                        "z": 372.7845153808594
                    },
                    "rotation": {
                        "roll": 0.0004692205984611064,
                        "pitch": -0.23193271458148956,
                        "yaw": -0.3416442573070526
                    }
                },
                "velocity": {
                    "x": 13.416671752929688,
                    "y": -0.08001148700714111,
                    "z": -0.052982110530138016
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.7361044883728027,
                "transform": {
                    "location": {
                        "x": -210.4812469482422,
                        "y": 4302.1240234375,
                        "z": 373.2479553222656
                    },
                    "rotation": {
                        "roll": -0.00372314453125,
                        "pitch": -0.1703244149684906,
                        "yaw": 0.023441193625330925
                    }
                },
                "velocity": {
                    "x": 1.7360482215881348,
                    "y": 0.01284729689359665,
                    "z": -0.0055022332817316055
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -73.7699966430664,
                        "y": 4294.802734375,
                        "z": 372.7000732421875
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.385101318359375,
                "transform": {
                    "location": {
                        "x": -90.71195220947266,
                        "y": 4298.2529296875,
                        "z": 372.7624206542969
                    },
                    "rotation": {
                        "roll": -0.0001220703707076609,
                        "pitch": -0.23382468521595,
                        "yaw": -0.3411864638328552
                    }
                },
                "velocity": {
                    "x": 13.384757995605469,
                    "y": -0.07930241525173187,
                    "z": -0.05384811758995056
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005395619082264602,
                "transform": {
                    "location": {
                        "x": -150.92640686035156,
                        "y": 4295.15869140625,
                        "z": 372.9944763183594
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.18917573988437653,
                        "yaw": 179.62835693359375
                    }
                },
                "velocity": {
                    "x": 6.628189294133335e-05,
                    "y": -0.00010871585982386023,
                    "z": -0.0005243230261839926
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.919182777404785,
                "transform": {
                    "location": {
                        "x": -109.09296417236328,
                        "y": 4294.91162109375,
                        "z": 372.8477783203125
                    },
                    "rotation": {
                        "roll": -0.001861572265625,
                        "pitch": 0.2186889797449112,
                        "yaw": 179.64492797851562
                    }
                },
                "velocity": {
                    "x": -7.918970108032227,
                    "y": 0.04798666015267372,
                    "z": 0.03270643204450607
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.7450947761535645,
                "transform": {
                    "location": {
                        "x": -127.345703125,
                        "y": 4295.017578125,
                        "z": 372.9080810546875
                    },
                    "rotation": {
                        "roll": 0.001013115281239152,
                        "pitch": 0.2535024583339691,
                        "yaw": 179.75645446777344
                    }
                },
                "velocity": {
                    "x": -4.744980812072754,
                    "y": 0.02748279459774494,
                    "z": 0.018060816451907158
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5837019681930542,
        "expert_target_speed": 6.904601600243202,
        "target_point": [
            13.56757459129909,
            -1.699064813874318
        ],
        "target_point_next": [
            17.82033310915678,
            -2.613144720165182
        ]
    },
    "520": {
        "acceleration": [
            -4.177112579345703,
            0.289919376373291,
            0.03197021782398224
        ],
        "angular_velocity": [
            0.13623645901679993,
            0.7268898487091064,
            -10.702788352966309
        ],
        "forward_vector": [
            -0.9853219389915466,
            -0.17049354314804077,
            0.008518114686012268
        ],
        "right_vector": [
            0.17044517397880554,
            -0.9853481650352478,
            -0.0061200885102152824
        ],
        "location": [
            -149.48733520507812,
            4292.9013671875,
            372.9947814941406
        ],
        "rotation": [
            0.3506701588630676,
            0.4880579710006714,
            -170.18312072753906
        ],
        "velocity": [
            -7.0208048820495605,
            -1.0549919605255127,
            0.02606569230556488
        ],
        "speed": 7.099627400686913,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 72.03753662109375,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2603759765625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.46990966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0316169448196888,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -222.34780883789062,
                        "y": 4298.93115234375,
                        "z": 373.29388427734375
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -222.32843017578125,
                        "y": 4302.18115234375,
                        "z": 373.29388427734375
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.296823024749756,
                "transform": {
                    "location": {
                        "x": -174.48585510253906,
                        "y": 4333.3505859375,
                        "z": 373.1222229003906
                    },
                    "rotation": {
                        "roll": 0.0084691122174263,
                        "pitch": -0.17245543003082275,
                        "yaw": -89.95962524414062
                    }
                },
                "velocity": {
                    "x": 0.0026756918523460627,
                    "y": -7.296822547912598,
                    "z": -0.0017304325010627508
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.8525607585906982,
                "transform": {
                    "location": {
                        "x": -209.8993682861328,
                        "y": 4298.87744140625,
                        "z": 373.2451477050781
                    },
                    "rotation": {
                        "roll": -0.0038146970327943563,
                        "pitch": -0.11416660249233246,
                        "yaw": 0.1385374665260315
                    }
                },
                "velocity": {
                    "x": 2.8524599075317383,
                    "y": 0.02184910699725151,
                    "z": -0.00989887211471796
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0473756790161133,
                "transform": {
                    "location": {
                        "x": -191.41421508789062,
                        "y": 4298.83154296875,
                        "z": 373.1799621582031
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.3318173885345459,
                        "yaw": -0.1958007961511612
                    }
                },
                "velocity": {
                    "x": 3.047330856323242,
                    "y": -0.013033553026616573,
                    "z": -0.010135793127119541
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012137108715251088,
                "transform": {
                    "location": {
                        "x": -192.554443359375,
                        "y": 4302.087890625,
                        "z": 373.1422424316406
                    },
                    "rotation": {
                        "roll": 4.301126682548784e-05,
                        "pitch": -0.26003894209861755,
                        "yaw": -0.35772705078125
                    }
                },
                "velocity": {
                    "x": -0.00015074216935317963,
                    "y": -2.491889608791098e-05,
                    "z": 0.0012040556175634265
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002639082493260503,
                "transform": {
                    "location": {
                        "x": -174.50132751464844,
                        "y": 4314.6044921875,
                        "z": 373.1111755371094
                    },
                    "rotation": {
                        "roll": 0.002130426000803709,
                        "pitch": -0.2526896595954895,
                        "yaw": -91.08045196533203
                    }
                },
                "velocity": {
                    "x": -1.6675367078278214e-05,
                    "y": 0.002255609491840005,
                    "z": 0.0013699282426387072
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.052363395690918,
                "transform": {
                    "location": {
                        "x": -91.26421356201172,
                        "y": 4294.80712890625,
                        "z": 372.7607727050781
                    },
                    "rotation": {
                        "roll": -0.00036621085018850863,
                        "pitch": 0.23506778478622437,
                        "yaw": 179.65574645996094
                    }
                },
                "velocity": {
                    "x": -8.05216121673584,
                    "y": 0.04628893733024597,
                    "z": 0.03336022421717644
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.410058975219727,
                "transform": {
                    "location": {
                        "x": -92.31578063964844,
                        "y": 4301.51416015625,
                        "z": 372.77093505859375
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": -0.23193271458148956,
                        "yaw": -0.34576416015625
                    }
                },
                "velocity": {
                    "x": 13.409709930419922,
                    "y": -0.08083949238061905,
                    "z": -0.053100232034921646
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.870384931564331,
                "transform": {
                    "location": {
                        "x": -209.9070281982422,
                        "y": 4302.12744140625,
                        "z": 373.2452697753906
                    },
                    "rotation": {
                        "roll": -0.0030517573468387127,
                        "pitch": -0.11413928866386414,
                        "yaw": 0.13055111467838287
                    }
                },
                "velocity": {
                    "x": 2.870279550552368,
                    "y": 0.022223664447665215,
                    "z": -0.01052124984562397
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -75.78250122070312,
                        "y": 4294.81494140625,
                        "z": 372.7084045410156
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.385132789611816,
                "transform": {
                    "location": {
                        "x": -87.36624908447266,
                        "y": 4298.2333984375,
                        "z": 372.748779296875
                    },
                    "rotation": {
                        "roll": -0.00039672842831350863,
                        "pitch": -0.23486287891864777,
                        "yaw": -0.334320068359375
                    }
                },
                "velocity": {
                    "x": 13.38478946685791,
                    "y": -0.07901210337877274,
                    "z": -0.05432762950658798
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00082207698142156,
                "transform": {
                    "location": {
                        "x": -150.92648315429688,
                        "y": 4295.15869140625,
                        "z": 372.9944152832031
                    },
                    "rotation": {
                        "roll": 0.000454297405667603,
                        "pitch": 0.1996874064207077,
                        "yaw": 179.62835693359375
                    }
                },
                "velocity": {
                    "x": 3.383413059054874e-05,
                    "y": 7.19786185072735e-05,
                    "z": 0.000818220607470721
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.1218621730804443,
                "transform": {
                    "location": {
                        "x": -110.60031127929688,
                        "y": 4294.9208984375,
                        "z": 372.86041259765625
                    },
                    "rotation": {
                        "roll": 0.0001554980844957754,
                        "pitch": -0.603945791721344,
                        "yaw": 179.65267944335938
                    }
                },
                "velocity": {
                    "x": -3.1217849254608154,
                    "y": 0.018948622047901154,
                    "z": 0.011091995052993298
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.2742204666137695,
                "transform": {
                    "location": {
                        "x": -128.6277313232422,
                        "y": 4295.02490234375,
                        "z": 372.9134216308594
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.24445928633213043,
                        "yaw": 179.72225952148438
                    }
                },
                "velocity": {
                    "x": -5.274083137512207,
                    "y": 0.03150624781847,
                    "z": 0.021375494077801704
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.40511417388916016,
        "expert_target_speed": 7.529892885915053,
        "target_point": [
            11.954131503091414,
            -1.225552995113816
        ],
        "target_point_next": [
            16.235835912985348,
            -1.9926934207144218
        ]
    },
    "525": {
        "acceleration": [
            -4.871063232421875,
            0.6591188907623291,
            0.018191523849964142
        ],
        "angular_velocity": [
            0.24997824430465698,
            0.5024083852767944,
            -7.096378803253174
        ],
        "forward_vector": [
            -0.991004467010498,
            -0.13337045907974243,
            0.011065375991165638
        ],
        "right_vector": [
            0.13329491019248962,
            -0.9910494685173035,
            -0.007308259140700102
        ],
        "location": [
            -151.39015197753906,
            4292.64404296875,
            373.0011901855469
        ],
        "rotation": [
            0.4187617897987366,
            0.6340122818946838,
            -172.3351287841797
        ],
        "velocity": [
            -8.183368682861328,
            -0.9322410225868225,
            0.029584502801299095
        ],
        "speed": 8.236297488788836,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 70.13348388671875,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2603759765625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.39835530519485474,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.08642578125
                    },
                    "rotation": {
                        "roll": 0.00028331278008408844,
                        "pitch": 0.03060607612133026,
                        "yaw": -90.05120849609375
                    }
                },
                "velocity": {
                    "x": -2.0571256754919887e-05,
                    "y": -0.00019554473692551255,
                    "z": -0.39835524559020996
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.5145263671875,
                        "y": 4298.92626953125,
                        "z": 373.2818603515625
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.49514770507812,
                        "y": 4302.17626953125,
                        "z": 373.2818603515625
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.197788238525391,
                "transform": {
                    "location": {
                        "x": -174.48577880859375,
                        "y": 4331.54541015625,
                        "z": 373.1214294433594
                    },
                    "rotation": {
                        "roll": 0.005814926698803902,
                        "pitch": -0.11584683507680893,
                        "yaw": -89.96861267089844
                    }
                },
                "velocity": {
                    "x": 0.0017416925402358174,
                    "y": -7.197787761688232,
                    "z": -0.0022677993401885033
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.26391077041626,
                "transform": {
                    "location": {
                        "x": -208.99945068359375,
                        "y": 4298.88330078125,
                        "z": 373.2414855957031
                    },
                    "rotation": {
                        "roll": -0.0036315915640443563,
                        "pitch": -0.07403924316167831,
                        "yaw": 0.26023560762405396
                    }
                },
                "velocity": {
                    "x": 4.263746738433838,
                    "y": 0.03405740112066269,
                    "z": -0.01544050220400095
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.19482801854610443,
                "transform": {
                    "location": {
                        "x": -190.9059295654297,
                        "y": 4298.8291015625,
                        "z": 373.1793518066406
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.4576977789402008,
                        "yaw": -0.1578674018383026
                    }
                },
                "velocity": {
                    "x": 0.19482438266277313,
                    "y": -0.0008184059988707304,
                    "z": -0.0008635711274109781
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00040043090120889246,
                "transform": {
                    "location": {
                        "x": -192.55413818359375,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": -3.051750172744505e-05,
                        "pitch": -0.20819097757339478,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": -1.5274061979653197e-06,
                    "y": -1.0539366485318169e-05,
                    "z": 0.00040028925286605954
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014968510949984193,
                "transform": {
                    "location": {
                        "x": -174.50132751464844,
                        "y": 4314.603515625,
                        "z": 373.1113586425781
                    },
                    "rotation": {
                        "roll": 0.0012438071426004171,
                        "pitch": -0.11153697967529297,
                        "yaw": -91.0804443359375
                    }
                },
                "velocity": {
                    "x": -2.3303129637497477e-05,
                    "y": 0.0005195927224121988,
                    "z": 0.0014035823987796903
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.04163646697998,
                "transform": {
                    "location": {
                        "x": -93.27546691894531,
                        "y": 4294.81884765625,
                        "z": 372.7689514160156
                    },
                    "rotation": {
                        "roll": -0.0009155271109193563,
                        "pitch": 0.23255427181720734,
                        "yaw": 179.6884765625
                    }
                },
                "velocity": {
                    "x": -8.041433334350586,
                    "y": 0.046146221458911896,
                    "z": 0.03383448347449303
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.417098999023438,
                "transform": {
                    "location": {
                        "x": -88.96320343017578,
                        "y": 4301.494140625,
                        "z": 372.75732421875
                    },
                    "rotation": {
                        "roll": 0.0005036323564127088,
                        "pitch": -0.23422083258628845,
                        "yaw": -0.3464965522289276
                    }
                },
                "velocity": {
                    "x": 13.416748046875,
                    "y": -0.08103293180465698,
                    "z": -0.0535273551940918
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.262378692626953,
                "transform": {
                    "location": {
                        "x": -209.00686645507812,
                        "y": 4302.1328125,
                        "z": 373.2415466308594
                    },
                    "rotation": {
                        "roll": -0.004730223678052425,
                        "pitch": -0.07550090551376343,
                        "yaw": 0.2550261318683624
                    }
                },
                "velocity": {
                    "x": 4.262216091156006,
                    "y": 0.033960357308387756,
                    "z": -0.015163068659603596
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -77.79421997070312,
                        "y": 4294.8271484375,
                        "z": 372.7166442871094
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 13.385135650634766,
                "transform": {
                    "location": {
                        "x": -84.02054595947266,
                        "y": 4298.2138671875,
                        "z": 372.735107421875
                    },
                    "rotation": {
                        "roll": -0.0004272459773346782,
                        "pitch": -0.2344052493572235,
                        "yaw": -0.338623046875
                    }
                },
                "velocity": {
                    "x": 13.384791374206543,
                    "y": -0.07871910184621811,
                    "z": -0.05513295903801918
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -150.92648315429688,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": 0.20365573465824127,
                        "yaw": 179.62835693359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.041330099105835,
                "transform": {
                    "location": {
                        "x": -111.3559341430664,
                        "y": 4294.9248046875,
                        "z": 372.8605041503906
                    },
                    "rotation": {
                        "roll": 0.00040417356649413705,
                        "pitch": -0.2630578875541687,
                        "yaw": 179.65650939941406
                    }
                },
                "velocity": {
                    "x": -3.0412559509277344,
                    "y": 0.018153373152017593,
                    "z": 0.011021737940609455
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.090157508850098,
                "transform": {
                    "location": {
                        "x": -130.02085876464844,
                        "y": 4295.03271484375,
                        "z": 372.9188537597656
                    },
                    "rotation": {
                        "roll": 1.7435248082620092e-05,
                        "pitch": 0.24924041330814362,
                        "yaw": 179.68701171875
                    }
                },
                "velocity": {
                    "x": -6.090003967285156,
                    "y": 0.03692735359072685,
                    "z": 0.022533083334565163
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.28742486238479614,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.19019600749015808,
        "expert_target_speed": 8.236795048262413,
        "target_point": [
            10.071583943892087,
            -0.7770331315344514
        ],
        "target_point_next": [
            14.379075216593458,
            -1.3828516042615435
        ]
    },
    "530": {
        "acceleration": [
            -7.608432769775391,
            0.8485090732574463,
            0.03474406898021698
        ],
        "angular_velocity": [
            0.31847652792930603,
            1.4147957563400269,
            -10.399664878845215
        ],
        "forward_vector": [
            -0.9956988096237183,
            -0.09194564819335938,
            0.01139842625707388
        ],
        "right_vector": [
            0.09184994548559189,
            -0.9957352876663208,
            -0.008654325269162655
        ],
        "location": [
            -153.53030395507812,
            4292.43603515625,
            373.00872802734375
        ],
        "rotation": [
            0.49589475989341736,
            0.6530958414077759,
            -174.72410583496094
        ],
        "velocity": [
            -9.250202178955078,
            -0.6885191202163696,
            0.03311477601528168
        ],
        "speed": 9.275791013732942,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 67.99295043945312,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2545471191406
            ],
            "velocity": [
                -9.855814278125763e-05,
                8.778799383435398e-05,
                -0.027483003214001656
            ],
            "speed_kmh": 0.09893995251595046,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.12767265737056732,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.1033020019531
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": 0.03054460510611534,
                        "yaw": -90.05132293701172
                    }
                },
                "velocity": {
                    "x": -0.0005617093993350863,
                    "y": -0.002086153021082282,
                    "z": 0.12765437364578247
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.058824874460697174,
                "transform": {
                    "location": {
                        "x": -221.09788513183594,
                        "y": 4298.923828125,
                        "z": 373.2631530761719
                    },
                    "rotation": {
                        "roll": -0.00079345703125,
                        "pitch": -0.22149619460105896,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": -0.0002109914639731869,
                    "y": 7.253887361002853e-06,
                    "z": -0.05882449820637703
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.035562288016080856,
                "transform": {
                    "location": {
                        "x": -221.07850646972656,
                        "y": 4302.173828125,
                        "z": 373.283203125
                    },
                    "rotation": {
                        "roll": -0.0017700194148346782,
                        "pitch": -0.22219286859035492,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.00014936774095986038,
                    "y": 6.0699672758346424e-05,
                    "z": 0.03556192293763161
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.9671854972839355,
                "transform": {
                    "location": {
                        "x": -174.48562622070312,
                        "y": 4329.7685546875,
                        "z": 373.1207580566406
                    },
                    "rotation": {
                        "roll": 0.0030355516355484724,
                        "pitch": -0.11590830236673355,
                        "yaw": -90.01265716552734
                    }
                },
                "velocity": {
                    "x": -0.001428508316166699,
                    "y": -6.967185020446777,
                    "z": -0.0018576240399852395
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.370843410491943,
                "transform": {
                    "location": {
                        "x": -207.76953125,
                        "y": 4298.88623046875,
                        "z": 373.2373046875
                    },
                    "rotation": {
                        "roll": 0.0028528678230941296,
                        "pitch": -0.08129973709583282,
                        "yaw": 0.16909871995449066
                    }
                },
                "velocity": {
                    "x": 5.370805740356445,
                    "y": 0.0057855104096233845,
                    "z": -0.019171642139554024
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015997682930901647,
                "transform": {
                    "location": {
                        "x": -190.90484619140625,
                        "y": 4298.8291015625,
                        "z": 373.1781311035156
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": -0.31447556614875793,
                        "yaw": -0.1581725776195526
                    }
                },
                "velocity": {
                    "x": -0.0008913303026929498,
                    "y": -8.73107710503973e-05,
                    "z": 0.00132558133918792
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0013724055606871843,
                "transform": {
                    "location": {
                        "x": -192.55413818359375,
                        "y": 4302.087890625,
                        "z": 373.1417236328125
                    },
                    "rotation": {
                        "roll": 3.0464130759355612e-05,
                        "pitch": -0.2036147564649582,
                        "yaw": -0.35772705078125
                    }
                },
                "velocity": {
                    "x": 5.836784566781716e-06,
                    "y": 1.0721819307946134e-05,
                    "z": 0.001372351311147213
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00025265937438234687,
                "transform": {
                    "location": {
                        "x": -174.50132751464844,
                        "y": 4314.60302734375,
                        "z": 373.1114501953125
                    },
                    "rotation": {
                        "roll": 0.0012169588590040803,
                        "pitch": -0.0870029479265213,
                        "yaw": -91.08038330078125
                    }
                },
                "velocity": {
                    "x": 7.730589277343825e-05,
                    "y": 0.0001609734899830073,
                    "z": 0.00017874031618703157
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.655450820922852,
                "transform": {
                    "location": {
                        "x": -95.26577758789062,
                        "y": 4294.83056640625,
                        "z": 372.777099609375
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": 0.21337509155273438,
                        "yaw": 179.65768432617188
                    }
                },
                "velocity": {
                    "x": -7.655261516571045,
                    "y": 0.04296492412686348,
                    "z": 0.032479409128427505
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.027483319863677025,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2545471191406
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": 0.22180354595184326,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -9.855814278125763e-05,
                    "y": 8.778799383435398e-05,
                    "z": -0.027483003214001656
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.06289590895175934,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.27960205078125
                    },
                    "rotation": {
                        "roll": 0.00081893295282498,
                        "pitch": 0.2215508371591568,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0002516976383049041,
                    "y": 1.529276414657943e-05,
                    "z": 0.06289540231227875
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.410171508789062,
                "transform": {
                    "location": {
                        "x": -85.61070251464844,
                        "y": 4301.47509765625,
                        "z": 372.74365234375
                    },
                    "rotation": {
                        "roll": 0.0011135119711980224,
                        "pitch": -0.2346784621477127,
                        "yaw": -0.3464660346508026
                    }
                },
                "velocity": {
                    "x": 13.409810066223145,
                    "y": -0.08105452358722687,
                    "z": -0.05562252551317215
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.342739105224609,
                "transform": {
                    "location": {
                        "x": -207.77859497070312,
                        "y": 4302.13623046875,
                        "z": 373.2374267578125
                    },
                    "rotation": {
                        "roll": 0.00113726279232651,
                        "pitch": -0.08493340015411377,
                        "yaw": 0.16318291425704956
                    }
                },
                "velocity": {
                    "x": 5.342703342437744,
                    "y": 0.005519031547009945,
                    "z": -0.01872182823717594
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -79.79515075683594,
                        "y": 4294.83837890625,
                        "z": 372.72491455078125
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -80.62687683105469,
                        "y": 4298.13720703125,
                        "z": 372.7252197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004511839069891721,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.20569796860218048,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 2.106558531522751e-05,
                    "y": 1.970334596990142e-05,
                    "z": 0.00045026096631772816
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.4459798336029053,
                "transform": {
                    "location": {
                        "x": -112.15999603271484,
                        "y": 4294.92919921875,
                        "z": 372.85833740234375
                    },
                    "rotation": {
                        "roll": 7.653380453120917e-05,
                        "pitch": 0.39646515250205994,
                        "yaw": 179.65646362304688
                    }
                },
                "velocity": {
                    "x": -3.4458911418914795,
                    "y": 0.020655300468206406,
                    "z": 0.013626908883452415
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.182621955871582,
                "transform": {
                    "location": {
                        "x": -131.6739044189453,
                        "y": 4295.0419921875,
                        "z": 372.9252014160156
                    },
                    "rotation": {
                        "roll": 0.0002476736262906343,
                        "pitch": 0.26153475046157837,
                        "yaw": 179.60922241210938
                    }
                },
                "velocity": {
                    "x": -7.182433128356934,
                    "y": 0.044689714908599854,
                    "z": 0.02678735740482807
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.09395419806241989,
        "expert_target_speed": 8.666254550362158,
        "target_point": [
            7.9450080199523745,
            -0.3668751983891216
        ],
        "target_point_next": [
            12.274008142594111,
            -0.7926157584297224
        ]
    },
    "535": {
        "acceleration": [
            -3.0668258666992188,
            1.3010615110397339,
            0.024194717407226562
        ],
        "angular_velocity": [
            0.08133914321660995,
            -0.507162868976593,
            -7.1488237380981445
        ],
        "forward_vector": [
            -0.9985222220420837,
            -0.0529320202767849,
            0.012315795756876469
        ],
        "right_vector": [
            0.052823491394519806,
            -0.9985635280609131,
            -0.008976629003882408
        ],
        "location": [
            -155.99639892578125,
            4292.28759765625,
            373.0174255371094
        ],
        "rotation": [
            0.5143688321113586,
            0.7056609392166138,
            -176.965576171875
        ],
        "velocity": [
            -10.296156883239746,
            -0.4216913878917694,
            0.03720075637102127
        ],
        "speed": 10.30478870190492,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 65.5269775390625,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.25128173828125
            ],
            "velocity": [
                -4.6592203943873756e-06,
                -6.28192865406163e-05,
                -0.003979003056883812
            ],
            "speed_kmh": 0.01432620590174935,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.7614014148712158,
                "transform": {
                    "location": {
                        "x": -174.56109619140625,
                        "y": 4349.0146484375,
                        "z": 373.12054443359375
                    },
                    "rotation": {
                        "roll": -0.013397224247455597,
                        "pitch": 0.27576205134391785,
                        "yaw": -89.84307861328125
                    }
                },
                "velocity": {
                    "x": 0.025013476610183716,
                    "y": -1.7609771490097046,
                    "z": 0.02947482094168663
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.012061549350619316,
                "transform": {
                    "location": {
                        "x": -221.09788513183594,
                        "y": 4298.923828125,
                        "z": 373.2554931640625
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.22213822603225708,
                        "yaw": -0.3386840522289276
                    }
                },
                "velocity": {
                    "x": -2.5057195671251975e-05,
                    "y": 0.00018412702775094658,
                    "z": -0.012060117907822132
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.007677139714360237,
                "transform": {
                    "location": {
                        "x": -221.07850646972656,
                        "y": 4302.173828125,
                        "z": 373.28802490234375
                    },
                    "rotation": {
                        "roll": -0.0014953609788790345,
                        "pitch": -0.22228848934173584,
                        "yaw": -0.33868408203125
                    }
                },
                "velocity": {
                    "x": 5.6404842325719073e-05,
                    "y": 4.7936278861016035e-05,
                    "z": 0.007676783017814159
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.389780521392822,
                "transform": {
                    "location": {
                        "x": -174.48562622070312,
                        "y": 4328.08740234375,
                        "z": 373.12030029296875
                    },
                    "rotation": {
                        "roll": 0.0026141121052205563,
                        "pitch": -0.20989853143692017,
                        "yaw": -89.9931640625
                    }
                },
                "velocity": {
                    "x": -0.0012263036333024502,
                    "y": -6.389780044555664,
                    "z": -0.0020094774663448334
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.494580268859863,
                "transform": {
                    "location": {
                        "x": -206.4100799560547,
                        "y": 4298.888671875,
                        "z": 373.23272705078125
                    },
                    "rotation": {
                        "roll": 0.00034523254726082087,
                        "pitch": -0.15441690385341644,
                        "yaw": 0.1311125010251999
                    }
                },
                "velocity": {
                    "x": 5.494542598724365,
                    "y": 0.005236981436610222,
                    "z": -0.019631939008831978
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005109423073008657,
                "transform": {
                    "location": {
                        "x": -190.904296875,
                        "y": 4298.8291015625,
                        "z": 373.1773681640625
                    },
                    "rotation": {
                        "roll": -0.0019531248835846782,
                        "pitch": -0.23092184960842133,
                        "yaw": -0.1581725925207138
                    }
                },
                "velocity": {
                    "x": -0.0001875812013167888,
                    "y": 5.96365407545818e-06,
                    "z": 0.0004752259701490402
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00022194387565832585,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 5.0963089961442165e-06,
                    "y": 5.7713041456963765e-08,
                    "z": 0.00022188534785527736
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00041100039379671216,
                "transform": {
                    "location": {
                        "x": -174.50132751464844,
                        "y": 4314.60302734375,
                        "z": 373.1114501953125
                    },
                    "rotation": {
                        "roll": 0.0007324450416490436,
                        "pitch": -0.08032301813364029,
                        "yaw": -91.08038330078125
                    }
                },
                "velocity": {
                    "x": 2.6907766368822195e-05,
                    "y": 7.384418131550774e-05,
                    "z": 0.00040341581916436553
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.942721366882324,
                "transform": {
                    "location": {
                        "x": -97.05101013183594,
                        "y": 4294.84033203125,
                        "z": 372.7845153808594
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": 0.19138872623443604,
                        "yaw": 179.68716430664062
                    }
                },
                "velocity": {
                    "x": -6.9425530433654785,
                    "y": 0.03915214538574219,
                    "z": 0.028284788131713867
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0039795017801225185,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.25128173828125
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": 0.22214506566524506,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -4.6592203943873756e-06,
                    "y": -6.28192865406163e-05,
                    "z": -0.003979003056883812
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.012462741695344448,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.28741455078125
                    },
                    "rotation": {
                        "roll": 0.0004564287082757801,
                        "pitch": 0.22187867760658264,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 6.289980956353247e-05,
                    "y": -3.959557943744585e-05,
                    "z": 0.01246252004057169
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -82.18765258789062,
                        "y": 4301.39404296875,
                        "z": 372.7327575683594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.559636116027832,
                "transform": {
                    "location": {
                        "x": -206.42210388183594,
                        "y": 4302.13916015625,
                        "z": 373.2328186035156
                    },
                    "rotation": {
                        "roll": 0.0009655141620896757,
                        "pitch": -0.151090607047081,
                        "yaw": 0.0058211591094732285
                    }
                },
                "velocity": {
                    "x": 5.559593200683594,
                    "y": 0.0034610358998179436,
                    "z": -0.021520908921957016
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -81.60296630859375,
                        "y": 4294.8486328125,
                        "z": 372.7322998046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23500630259513855,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3916,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -77.15499877929688,
                        "y": 4298.08544921875,
                        "z": 372.71319580078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00038938631769269705,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 2.226833203167189e-05,
                    "y": -1.133161367761204e-05,
                    "z": 0.000388583866879344
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.411855697631836,
                "transform": {
                    "location": {
                        "x": -113.14031219482422,
                        "y": 4294.93505859375,
                        "z": 372.8614501953125
                    },
                    "rotation": {
                        "roll": 0.0002348577545490116,
                        "pitch": 0.4996556341648102,
                        "yaw": 179.65652465820312
                    }
                },
                "velocity": {
                    "x": -4.4117431640625,
                    "y": 0.026437286287546158,
                    "z": 0.017125576734542847
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.931600093841553,
                "transform": {
                    "location": {
                        "x": -133.57186889648438,
                        "y": 4295.05419921875,
                        "z": 372.9326171875
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": 0.24747823178768158,
                        "yaw": 179.6073760986328
                    }
                },
                "velocity": {
                    "x": -7.931386947631836,
                    "y": 0.04933180660009384,
                    "z": 0.03076585754752159
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.06066364049911499,
        "expert_target_speed": 8.746808423467199,
        "target_point": [
            9.825121890942388,
            -0.3296481616691643
        ],
        "target_point_next": [
            30.28984670978868,
            -1.5357563314757474
        ]
    },
    "540": {
        "acceleration": [
            -0.6185722351074219,
            1.6504273414611816,
            0.003584623336791992
        ],
        "angular_velocity": [
            0.30155694484710693,
            -0.8988086581230164,
            -11.007713317871094
        ],
        "forward_vector": [
            -0.9998735785484314,
            -0.013103445060551167,
            0.009002325125038624
        ],
        "right_vector": [
            0.013014912605285645,
            -0.9998669624328613,
            -0.009823556989431381
        ],
        "location": [
            -158.63421630859375,
            4292.22265625,
            373.02740478515625
        ],
        "rotation": [
            0.562880277633667,
            0.5158022046089172,
            -179.24917602539062
        ],
        "velocity": [
            -10.696687698364258,
            -0.03728797286748886,
            0.037508800625801086
        ],
        "speed": 10.696752689917526,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 62.889320373535156,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.25115966796875
            ],
            "velocity": [
                7.91031834523892e-06,
                -3.759757964871824e-05,
                6.657312769675627e-05
            ],
            "speed_kmh": 0.00027671175746919367,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.307246446609497,
                "transform": {
                    "location": {
                        "x": -174.55648803710938,
                        "y": 4348.38037109375,
                        "z": 373.1240234375
                    },
                    "rotation": {
                        "roll": -0.003265365958213806,
                        "pitch": 0.33407819271087646,
                        "yaw": -89.74688720703125
                    }
                },
                "velocity": {
                    "x": 0.024568302556872368,
                    "y": -3.307149648666382,
                    "z": 0.0060173035599291325
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7941923141479492,
                "transform": {
                    "location": {
                        "x": -221.06092834472656,
                        "y": 4298.923828125,
                        "z": 373.2543640136719
                    },
                    "rotation": {
                        "roll": -0.002593994140625,
                        "pitch": -0.13159041106700897,
                        "yaw": -0.3312378227710724
                    }
                },
                "velocity": {
                    "x": 0.7941742539405823,
                    "y": 0.0016759959980845451,
                    "z": -0.005093908403068781
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5953577756881714,
                "transform": {
                    "location": {
                        "x": -221.05148315429688,
                        "y": 4302.173828125,
                        "z": 373.2884216308594
                    },
                    "rotation": {
                        "roll": -0.0031433107797056437,
                        "pitch": -0.17901241779327393,
                        "yaw": -0.326416015625
                    }
                },
                "velocity": {
                    "x": 0.5953385233879089,
                    "y": 0.004699107725173235,
                    "z": -0.0009339141543023288
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7645851969718933,
                "transform": {
                    "location": {
                        "x": -174.48570251464844,
                        "y": 4327.1494140625,
                        "z": 373.12457275390625
                    },
                    "rotation": {
                        "roll": -0.005828833673149347,
                        "pitch": -1.5364919900894165,
                        "yaw": -89.9693603515625
                    }
                },
                "velocity": {
                    "x": 0.0008994319941848516,
                    "y": -0.7645828127861023,
                    "z": -0.0016711329808458686
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.468377113342285,
                "transform": {
                    "location": {
                        "x": -204.8086700439453,
                        "y": 4298.890625,
                        "z": 373.2257385253906
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": -0.03064022772014141,
                        "yaw": 0.10182354599237442
                    }
                },
                "velocity": {
                    "x": 7.468325138092041,
                    "y": 0.005923062562942505,
                    "z": -0.027307381853461266
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009258744539692998,
                "transform": {
                    "location": {
                        "x": -190.9041290283203,
                        "y": 4298.8291015625,
                        "z": 373.17718505859375
                    },
                    "rotation": {
                        "roll": -0.0006713866605423391,
                        "pitch": -0.20949554443359375,
                        "yaw": -0.1582030951976776
                    }
                },
                "velocity": {
                    "x": -4.038773477077484e-05,
                    "y": -3.308764280518517e-05,
                    "z": 0.000924401159863919
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00047754525439813733,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 4.679970516008325e-06,
                    "y": -1.4377688785316423e-05,
                    "z": 0.0004773058171849698
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.975741027621552e-05,
                "transform": {
                    "location": {
                        "x": -174.50132751464844,
                        "y": 4314.60302734375,
                        "z": 373.1114807128906
                    },
                    "rotation": {
                        "roll": 0.0015295331832021475,
                        "pitch": -0.07171697914600372,
                        "yaw": -91.08035278320312
                    }
                },
                "velocity": {
                    "x": 6.204467354109511e-05,
                    "y": 4.586848444887437e-05,
                    "z": 2.0193683667457663e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.434776782989502,
                "transform": {
                    "location": {
                        "x": -98.84671783447266,
                        "y": 4294.85009765625,
                        "z": 372.7913513183594
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": 0.24669958651065826,
                        "yaw": 179.65106201171875
                    }
                },
                "velocity": {
                    "x": -7.434587001800537,
                    "y": 0.044404156506061554,
                    "z": 0.02918798290193081
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.686438038945198e-05,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.25115966796875
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": 0.22213822603225708,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 7.91031834523892e-06,
                    "y": -3.759757964871824e-05,
                    "z": 6.657312769675627e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0023900093510746956,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.28857421875
                    },
                    "rotation": {
                        "roll": 0.00023206589685287327,
                        "pitch": 0.22187867760658264,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 1.8290838852408342e-05,
                    "y": -4.555247141979635e-05,
                    "z": 0.0023895050399005413
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3917,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -78.71632385253906,
                        "y": 4301.33251953125,
                        "z": 372.7205810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.297671318054199,
                "transform": {
                    "location": {
                        "x": -204.91531372070312,
                        "y": 4302.14013671875,
                        "z": 373.22705078125
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.13668574392795563,
                        "yaw": 0.04979408159852028
                    }
                },
                "velocity": {
                    "x": 6.297626972198486,
                    "y": 0.004212087020277977,
                    "z": -0.023211998865008354
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -83.45624542236328,
                        "y": 4294.859375,
                        "z": 372.7398986816406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23500630259513855,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006101414910517633,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 4.712827376351925e-06,
                    "y": 2.3969937501533423e-06,
                    "z": 0.0006101185572333634
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.9972052574157715,
                "transform": {
                    "location": {
                        "x": -114.36265563964844,
                        "y": 4294.94287109375,
                        "z": 372.8670349121094
                    },
                    "rotation": {
                        "roll": 0.00022557030024472624,
                        "pitch": 0.42026835680007935,
                        "yaw": 179.6617889404297
                    }
                },
                "velocity": {
                    "x": -4.997074604034424,
                    "y": 0.029263662174344063,
                    "z": 0.02117493562400341
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.20400619506836,
                "transform": {
                    "location": {
                        "x": -135.6687469482422,
                        "y": 4295.06787109375,
                        "z": 372.94085693359375
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": 0.2331826388835907,
                        "yaw": 179.63690185546875
                    }
                },
                "velocity": {
                    "x": -8.203776359558105,
                    "y": 0.05180014669895172,
                    "z": 0.03288163244724274
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.09797059744596481,
        "expert_target_speed": 7.805448907527701,
        "target_point": [
            27.68854332361482,
            -0.35798069070838245
        ],
        "target_point_next": [
            38.68652784039599,
            -0.5675467930522178
        ]
    },
    "545": {
        "acceleration": [
            3.4720993041992188,
            0.5863651633262634,
            -0.011873394250869751
        ],
        "angular_velocity": [
            -0.8088462352752686,
            -1.5374571084976196,
            -2.68794322013855
        ],
        "forward_vector": [
            -0.9998118877410889,
            0.019062824547290802,
            0.00357269449159503
        ],
        "right_vector": [
            -0.019091524183750153,
            -0.9997842907905579,
            -0.008178767748177052
        ],
        "location": [
            -161.271240234375,
            4292.24658203125,
            373.03765869140625
        ],
        "rotation": [
            0.46861711144447327,
            0.2047007530927658,
            178.90771484375
        ],
        "velocity": [
            -10.225956916809082,
            0.2275138646364212,
            0.0360611155629158
        ],
        "speed": 10.228487543280155,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.25221633911133,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.6127229173434898e-05,
                -1.4849352737655863e-05,
                0.0014296791050583124
            ],
            "speed_kmh": 0.005147449817892631,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.815625190734863,
                "transform": {
                    "location": {
                        "x": -174.54835510253906,
                        "y": 4347.35107421875,
                        "z": 373.125
                    },
                    "rotation": {
                        "roll": -0.004180924966931343,
                        "pitch": 0.3449791669845581,
                        "yaw": -89.64132690429688
                    }
                },
                "velocity": {
                    "x": 0.03870058059692383,
                    "y": -4.815469264984131,
                    "z": 0.002349262125790119
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0977611541748047,
                "transform": {
                    "location": {
                        "x": -220.67929077148438,
                        "y": 4298.92529296875,
                        "z": 373.2526550292969
                    },
                    "rotation": {
                        "roll": -0.005218505393713713,
                        "pitch": -0.03695815056562424,
                        "yaw": -0.1835021674633026
                    }
                },
                "velocity": {
                    "x": 2.0977258682250977,
                    "y": 0.009319690056145191,
                    "z": -0.007844562642276287
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6898053884506226,
                "transform": {
                    "location": {
                        "x": -220.740234375,
                        "y": 4302.17529296875,
                        "z": 373.2868347167969
                    },
                    "rotation": {
                        "roll": -0.004974364768713713,
                        "pitch": -0.11645472049713135,
                        "yaw": -0.2352294623851776
                    }
                },
                "velocity": {
                    "x": 1.6897377967834473,
                    "y": 0.013649656437337399,
                    "z": -0.006493577733635902
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7814127802848816,
                "transform": {
                    "location": {
                        "x": -174.48577880859375,
                        "y": 4327.0625,
                        "z": 373.12200927734375
                    },
                    "rotation": {
                        "roll": -0.00015263126988429576,
                        "pitch": -0.9098767638206482,
                        "yaw": -89.95707702636719
                    }
                },
                "velocity": {
                    "x": -0.0008359955972991884,
                    "y": -0.7814114093780518,
                    "z": 0.0011764526134356856
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.785927772521973,
                "transform": {
                    "location": {
                        "x": -203.0067901611328,
                        "y": 4298.890625,
                        "z": 373.220703125
                    },
                    "rotation": {
                        "roll": 0.005266126245260239,
                        "pitch": -0.2146591693162918,
                        "yaw": -0.011535643599927425
                    }
                },
                "velocity": {
                    "x": 6.785863876342773,
                    "y": -0.01563478261232376,
                    "z": -0.024997128173708916
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003087498480454087,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0006408690242096782,
                        "pitch": -0.2045300006866455,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": -1.555006929265801e-05,
                    "y": -1.8392185666016303e-05,
                    "z": 0.0003078090085182339
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2518815310613718e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 8.393600182898808e-06,
                    "y": 2.9131106202839874e-06,
                    "z": -8.819411050353665e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00012298894580453634,
                "transform": {
                    "location": {
                        "x": -174.50132751464844,
                        "y": 4314.60302734375,
                        "z": 373.1114807128906
                    },
                    "rotation": {
                        "roll": 0.0015295331832021475,
                        "pitch": -0.07171697914600372,
                        "yaw": -91.08035278320312
                    }
                },
                "velocity": {
                    "x": -1.9050490664085373e-05,
                    "y": -1.7246883317056927e-06,
                    "z": 0.0001214923249790445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.453943252563477,
                "transform": {
                    "location": {
                        "x": -100.75538635253906,
                        "y": 4294.8623046875,
                        "z": 372.79913330078125
                    },
                    "rotation": {
                        "roll": -0.00030517569393850863,
                        "pitch": 0.23627671599388123,
                        "yaw": 179.68287658691406
                    }
                },
                "velocity": {
                    "x": -7.453757286071777,
                    "y": 0.04390163719654083,
                    "z": 0.02901991829276085
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0014298472087830305,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.6127229173434898e-05,
                    "y": -1.4849352737655863e-05,
                    "z": 0.0014296791050583124
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014483543345704675,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.288818359375
                    },
                    "rotation": {
                        "roll": 0.000722974946256727,
                        "pitch": 0.22183087468147278,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 2.0321756892371923e-05,
                    "y": 4.0450809137837496e-06,
                    "z": 0.0014482061378657818
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.377441167831421,
                "transform": {
                    "location": {
                        "x": -203.765380859375,
                        "y": 4302.14111328125,
                        "z": 373.2257385253906
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": -0.5082070231437683,
                        "yaw": 0.04618421196937561
                    }
                },
                "velocity": {
                    "x": 2.3774211406707764,
                    "y": -0.003118084045127034,
                    "z": -0.00927235558629036
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -85.36320495605469,
                        "y": 4294.87158203125,
                        "z": 372.747802734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23500630259513855,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000499700428918004,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.1163316230522469e-05,
                    "y": 4.1268140194006264e-05,
                    "z": 0.0004978682845830917
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.598546028137207,
                "transform": {
                    "location": {
                        "x": -115.73577880859375,
                        "y": 4294.95068359375,
                        "z": 372.8733215332031
                    },
                    "rotation": {
                        "roll": 0.00034769417834468186,
                        "pitch": 0.32927656173706055,
                        "yaw": 179.66464233398438
                    }
                },
                "velocity": {
                    "x": -5.598410606384277,
                    "y": 0.03273027762770653,
                    "z": 0.02112318016588688
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.0484418869018555,
                "transform": {
                    "location": {
                        "x": -137.58045959472656,
                        "y": 4295.080078125,
                        "z": 372.94866943359375
                    },
                    "rotation": {
                        "roll": -0.0008544920128770173,
                        "pitch": 0.18784385919570923,
                        "yaw": 179.6525421142578
                    }
                },
                "velocity": {
                    "x": -7.048251152038574,
                    "y": 0.04335765913128853,
                    "z": 0.028386345133185387
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.17533574998378754,
        "expert_target_speed": 5.056041949833906,
        "target_point": [
            25.048731269871396,
            0.5063991392132628
        ],
        "target_point_next": [
            36.04776613265526,
            0.6506678810632044
        ]
    },
    "550": {
        "acceleration": [
            9.034767150878906,
            -0.05885958671569824,
            -0.016268156468868256
        ],
        "angular_velocity": [
            -0.858742892742157,
            -2.0017154216766357,
            -2.6669857501983643
        ],
        "forward_vector": [
            -0.9995597004890442,
            0.028929725289344788,
            -0.006593417841941118
        ],
        "right_vector": [
            -0.028901265934109688,
            -0.99957275390625,
            -0.004371602088212967
        ],
        "location": [
            -163.57640075683594,
            4292.30322265625,
            373.04779052734375
        ],
        "rotation": [
            0.250480592250824,
            -0.37777775526046753,
            178.34217834472656
        ],
        "velocity": [
            -8.08639907836914,
            0.24112415313720703,
            0.028234805911779404
        ],
        "speed": 8.089993257838687,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.946895599365234,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.091032213997096e-06,
                8.543680451111868e-06,
                0.0003061377501580864
            ],
            "speed_kmh": 0.0011029096999724524,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.439816951751709,
                "transform": {
                    "location": {
                        "x": -174.5371856689453,
                        "y": 4346.02880859375,
                        "z": 373.125732421875
                    },
                    "rotation": {
                        "roll": -0.002227787859737873,
                        "pitch": 0.19013196229934692,
                        "yaw": -89.56000518798828
                    }
                },
                "velocity": {
                    "x": 0.04659733548760414,
                    "y": -5.439617156982422,
                    "z": 0.0017056178767234087
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.3382086753845215,
                "transform": {
                    "location": {
                        "x": -220.00233459472656,
                        "y": 4298.92919921875,
                        "z": 373.24993896484375
                    },
                    "rotation": {
                        "roll": -0.007476805709302425,
                        "pitch": -0.02823599986732006,
                        "yaw": 0.05713919177651405
                    }
                },
                "velocity": {
                    "x": 3.3381314277648926,
                    "y": 0.019774561747908592,
                    "z": -0.011128826066851616
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.7769055366516113,
                "transform": {
                    "location": {
                        "x": -220.1825714111328,
                        "y": 4302.1787109375,
                        "z": 373.2846374511719
                    },
                    "rotation": {
                        "roll": -0.005584716331213713,
                        "pitch": -0.1088322252035141,
                        "yaw": -0.044708251953125
                    }
                },
                "velocity": {
                    "x": 2.776784896850586,
                    "y": 0.023726144805550575,
                    "z": -0.010352726094424725
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7147080898284912,
                "transform": {
                    "location": {
                        "x": -174.48577880859375,
                        "y": 4326.73193359375,
                        "z": 373.1187744140625
                    },
                    "rotation": {
                        "roll": -0.0003967313969042152,
                        "pitch": -0.053070567548274994,
                        "yaw": -89.9501953125
                    }
                },
                "velocity": {
                    "x": 0.0002070027549052611,
                    "y": -1.7147080898284912,
                    "z": -0.00014751433627679944
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.7326695919036865,
                "transform": {
                    "location": {
                        "x": -201.84249877929688,
                        "y": 4298.888671875,
                        "z": 373.2195129394531
                    },
                    "rotation": {
                        "roll": -0.0007324218167923391,
                        "pitch": -0.6191087961196899,
                        "yaw": -0.1020507737994194
                    }
                },
                "velocity": {
                    "x": 1.7326494455337524,
                    "y": -0.00422091456130147,
                    "z": -0.007212209515273571
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008618086576461792,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 1.1772587640734855e-05,
                    "y": 2.428260813758243e-05,
                    "z": 0.0008613860700279474
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.794695531832986e-06,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 6.29212672720314e-06,
                    "y": -6.481699443838806e-08,
                    "z": 6.144234248495195e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003288885054644197,
                "transform": {
                    "location": {
                        "x": -174.50132751464844,
                        "y": 4314.60302734375,
                        "z": 373.1114807128906
                    },
                    "rotation": {
                        "roll": 0.0015295331832021475,
                        "pitch": -0.07171697914600372,
                        "yaw": -91.08035278320312
                    }
                },
                "velocity": {
                    "x": 7.021240548965579e-07,
                    "y": 1.3948548257758375e-05,
                    "z": 0.0003285918210167438
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.261696815490723,
                "transform": {
                    "location": {
                        "x": -102.40773010253906,
                        "y": 4294.87158203125,
                        "z": 372.80657958984375
                    },
                    "rotation": {
                        "roll": -3.051758176297881e-05,
                        "pitch": 0.12835973501205444,
                        "yaw": 179.57875061035156
                    }
                },
                "velocity": {
                    "x": -5.261528968811035,
                    "y": 0.0361710824072361,
                    "z": 0.021329831331968307
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00030636379960924387,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.091032213997096e-06,
                    "y": 8.543680451111868e-06,
                    "z": 0.0003061377501580864
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4265710711479187,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.30364990234375
                    },
                    "rotation": {
                        "roll": 0.0004490849678404629,
                        "pitch": 0.22191283106803894,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.0016409741947427392,
                    "y": 3.3081094443332404e-05,
                    "z": -0.4265679121017456
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011014380725100636,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889099121094
                    },
                    "rotation": {
                        "roll": 0.0009784222347661853,
                        "pitch": 0.22174890339374542,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.550526556267869e-07,
                    "y": -4.8669768148101866e-05,
                    "z": 0.0011003618128597736
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.020534038543701,
                "transform": {
                    "location": {
                        "x": -203.3371124267578,
                        "y": 4302.140625,
                        "z": 373.2228088378906
                    },
                    "rotation": {
                        "roll": 0.00019931425049435347,
                        "pitch": -0.3455870747566223,
                        "yaw": 0.008075863122940063
                    }
                },
                "velocity": {
                    "x": 2.020515203475952,
                    "y": -0.005627866834402084,
                    "z": -0.0066506098955869675
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -87.07827758789062,
                        "y": 4294.88134765625,
                        "z": 372.7547912597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23358562588691711,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.426638662815094,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.30364990234375
                    },
                    "rotation": {
                        "roll": 0.000889605435077101,
                        "pitch": 0.2211751788854599,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.0016470870468765497,
                    "y": 3.5953973565483466e-05,
                    "z": -0.4266354739665985
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015216029714792967,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 2.2008940504747443e-05,
                    "y": 8.352671102329623e-06,
                    "z": 0.0015214208979159594
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.245889186859131,
                "transform": {
                    "location": {
                        "x": -117.34913635253906,
                        "y": 4294.96044921875,
                        "z": 372.87799072265625
                    },
                    "rotation": {
                        "roll": 0.001165687688626349,
                        "pitch": 0.5290868878364563,
                        "yaw": 179.65896606445312
                    }
                },
                "velocity": {
                    "x": -7.245706081390381,
                    "y": 0.04309574142098427,
                    "z": 0.028148718178272247
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.9371566772460938,
                "transform": {
                    "location": {
                        "x": -139.0664825439453,
                        "y": 4295.0888671875,
                        "z": 372.9547424316406
                    },
                    "rotation": {
                        "roll": 0.00013450958067551255,
                        "pitch": 0.13566803932189941,
                        "yaw": 179.66038513183594
                    }
                },
                "velocity": {
                    "x": -3.9370651245117188,
                    "y": 0.023826712742447853,
                    "z": 0.012380694970488548
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.24456889927387238,
        "expert_target_speed": 0.0,
        "target_point": [
            22.736678788985607,
            0.743531479675341
        ],
        "target_point_next": [
            33.733753987583995,
            0.996352481536685
        ]
    },
    "555": {
        "acceleration": [
            14.027185440063477,
            -0.37969499826431274,
            -0.04358749836683273
        ],
        "angular_velocity": [
            -0.47099626064300537,
            -2.3214924335479736,
            -0.43458399176597595
        ],
        "forward_vector": [
            -0.9994293451309204,
            0.03213360905647278,
            -0.010411670431494713
        ],
        "right_vector": [
            -0.03211435303092003,
            -0.9994821548461914,
            -0.002011444652453065
        ],
        "location": [
            -165.34991455078125,
            4292.357421875,
            373.0547180175781
        ],
        "rotation": [
            0.11525361984968185,
            -0.5965555310249329,
            178.15846252441406
        ],
        "velocity": [
            -5.939819812774658,
            0.19872067868709564,
            0.020716428756713867
        ],
        "speed": 5.943143050303285,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 56.173282623291016,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.5198997971310746e-05,
                -4.891392109129811e-06,
                0.0016741533763706684
            ],
            "speed_kmh": 0.00602722624751946,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.486996650695801,
                "transform": {
                    "location": {
                        "x": -174.52499389648438,
                        "y": 4344.6025390625,
                        "z": 373.1262512207031
                    },
                    "rotation": {
                        "roll": -0.0025024397764354944,
                        "pitch": 0.20511740446090698,
                        "yaw": -89.5128173828125
                    }
                },
                "velocity": {
                    "x": 0.057620804756879807,
                    "y": -6.486740589141846,
                    "z": 0.002354421652853489
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.2818613052368164,
                "transform": {
                    "location": {
                        "x": -219.11351013183594,
                        "y": 4298.93505859375,
                        "z": 373.24639892578125
                    },
                    "rotation": {
                        "roll": -0.005493164528161287,
                        "pitch": -0.18118441104888916,
                        "yaw": 0.23079939186573029
                    }
                },
                "velocity": {
                    "x": 3.281750202178955,
                    "y": 0.02364991419017315,
                    "z": -0.013067369349300861
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.587390661239624,
                "transform": {
                    "location": {
                        "x": -219.33648681640625,
                        "y": 4302.18408203125,
                        "z": 373.2814636230469
                    },
                    "rotation": {
                        "roll": -0.005981444846838713,
                        "pitch": -0.1198151707649231,
                        "yaw": 0.15728788077831268
                    }
                },
                "velocity": {
                    "x": 3.587221384048462,
                    "y": 0.03221648931503296,
                    "z": -0.013308591209352016
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.133420705795288,
                "transform": {
                    "location": {
                        "x": -174.48570251464844,
                        "y": 4326.2119140625,
                        "z": 373.1177978515625
                    },
                    "rotation": {
                        "roll": 0.0006036463310010731,
                        "pitch": 0.1372799575328827,
                        "yaw": -89.9775161743164
                    }
                },
                "velocity": {
                    "x": -0.0012514167465269566,
                    "y": -2.1334195137023926,
                    "z": -0.001978721469640732
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.87837553024292,
                "transform": {
                    "location": {
                        "x": -201.5402374267578,
                        "y": 4298.88720703125,
                        "z": 373.2160949707031
                    },
                    "rotation": {
                        "roll": 0.0012530761305242777,
                        "pitch": -0.3382582664489746,
                        "yaw": -0.07589719444513321
                    }
                },
                "velocity": {
                    "x": 1.8783520460128784,
                    "y": -0.0063797603361308575,
                    "z": -0.006907939910888672
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005897643859498203,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 1.7299875253229402e-05,
                    "y": 2.2715626982972026e-05,
                    "z": 0.0005890727625228465
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002880270476453006,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 5.62533705306123e-06,
                    "y": 1.1674731467792299e-05,
                    "z": 0.00028773536905646324
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00022729020565748215,
                "transform": {
                    "location": {
                        "x": -174.50132751464844,
                        "y": 4314.60302734375,
                        "z": 373.1114807128906
                    },
                    "rotation": {
                        "roll": 0.0015295331832021475,
                        "pitch": -0.07171697914600372,
                        "yaw": -91.08035278320312
                    }
                },
                "velocity": {
                    "x": 1.6349069483112544e-05,
                    "y": 5.201548447075766e-06,
                    "z": 0.0002266417577629909
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4408421516418457,
                "transform": {
                    "location": {
                        "x": -103.01780700683594,
                        "y": 4294.875,
                        "z": 372.8099670410156
                    },
                    "rotation": {
                        "roll": 0.0010005198419094086,
                        "pitch": 0.0025476603768765926,
                        "yaw": 179.52667236328125
                    }
                },
                "velocity": {
                    "x": -1.440787434577942,
                    "y": 0.010454232804477215,
                    "z": 0.0069637298583984375
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0016742295119911432,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.5198997971310746e-05,
                    "y": -4.891392109129811e-06,
                    "z": 0.0016741533763706684
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.038405586034059525,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2811279296875
                    },
                    "rotation": {
                        "roll": 0.0002707374806050211,
                        "pitch": 0.22177623212337494,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.00015533945406787097,
                    "y": 0.00011649820953607559,
                    "z": 0.03840509429574013
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000931720482185483,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889099121094
                    },
                    "rotation": {
                        "roll": 0.0007971971062943339,
                        "pitch": 0.22187867760658264,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 1.239735593117075e-05,
                    "y": -3.5466305803311116e-07,
                    "z": 0.0009316379437223077
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9323818683624268,
                "transform": {
                    "location": {
                        "x": -202.6951446533203,
                        "y": 4302.13916015625,
                        "z": 373.2188720703125
                    },
                    "rotation": {
                        "roll": 3.685544652398676e-05,
                        "pitch": -0.15682797133922577,
                        "yaw": -0.0407104454934597
                    }
                },
                "velocity": {
                    "x": 2.93235445022583,
                    "y": -0.008090578950941563,
                    "z": -0.00974865909665823
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -88.29601287841797,
                        "y": 4294.88818359375,
                        "z": 372.759765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23358562588691711,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.03798293322324753,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2811279296875
                    },
                    "rotation": {
                        "roll": 0.0012395966332405806,
                        "pitch": 0.22122298181056976,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0001540646335342899,
                    "y": 1.5668445485061966e-05,
                    "z": 0.03798261657357216
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014355260645970702,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.6610660168225877e-05,
                    "y": 1.4029473049959051e-06,
                    "z": 0.001435429323464632
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.476927757263184,
                "transform": {
                    "location": {
                        "x": -119.33234405517578,
                        "y": 4294.970703125,
                        "z": 372.8854675292969
                    },
                    "rotation": {
                        "roll": 0.004475591704249382,
                        "pitch": 0.5724517703056335,
                        "yaw": 179.4668731689453
                    }
                },
                "velocity": {
                    "x": -8.476688385009766,
                    "y": 0.05407603085041046,
                    "z": 0.03360573574900627
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.3332327902317047,
                "transform": {
                    "location": {
                        "x": -139.4121856689453,
                        "y": 4295.0908203125,
                        "z": 372.9565124511719
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": 0.08003615587949753,
                        "yaw": 179.65118408203125
                    }
                },
                "velocity": {
                    "x": -0.33321937918663025,
                    "y": 0.002125527709722519,
                    "z": 0.002103834180161357
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3258439898490906,
        "expert_target_speed": 0.0,
        "target_point": [
            20.959838054611016,
            0.8136169493387495
        ],
        "target_point_next": [
            31.95604598388095,
            1.1017012405989055
        ]
    },
    "560": {
        "acceleration": [
            20.125036239624023,
            -0.6022577285766602,
            -0.05039628595113754
        ],
        "angular_velocity": [
            -0.12227603793144226,
            -2.860358715057373,
            -0.014645922929048538
        ],
        "forward_vector": [
            -0.9988475441932678,
            0.03647879138588905,
            -0.03119010291993618
        ],
        "right_vector": [
            -0.036471378058195114,
            -0.9993343949317932,
            -0.0008068003808148205
        ],
        "location": [
            -166.05148315429688,
            4292.37841796875,
            373.0613098144531
        ],
        "rotation": [
            0.04624876379966736,
            -1.787351131439209,
            177.90843200683594
        ],
        "velocity": [
            -0.013206634670495987,
            0.00015704154793638736,
            -0.0015429563354700804
        ],
        "speed": 0.013207568336666855,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.471675872802734,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2576393601193558e-05,
                -1.3650807886733674e-05,
                0.000757140398491174
            ],
            "speed_kmh": 0.002726524338538193,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.22668743133545,
                "transform": {
                    "location": {
                        "x": -174.51109313964844,
                        "y": 4342.689453125,
                        "z": 373.1268005371094
                    },
                    "rotation": {
                        "roll": 0.015207611955702305,
                        "pitch": 0.3538174331188202,
                        "yaw": -89.60620880126953
                    }
                },
                "velocity": {
                    "x": 0.04435286298394203,
                    "y": -8.226567268371582,
                    "z": 0.0022388934157788754
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.341750383377075,
                "transform": {
                    "location": {
                        "x": -218.32717895507812,
                        "y": 4298.93701171875,
                        "z": 373.24322509765625
                    },
                    "rotation": {
                        "roll": 0.0008578041451983154,
                        "pitch": -0.2135663479566574,
                        "yaw": 0.19221317768096924
                    }
                },
                "velocity": {
                    "x": 3.3417139053344727,
                    "y": 0.007822464220225811,
                    "z": -0.013491916470229626
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.030374050140381,
                "transform": {
                    "location": {
                        "x": -218.53382873535156,
                        "y": 4302.18798828125,
                        "z": 373.2795104980469
                    },
                    "rotation": {
                        "roll": 0.0024939028080552816,
                        "pitch": -0.2445685714483261,
                        "yaw": 0.19630387425422668
                    }
                },
                "velocity": {
                    "x": 3.030341625213623,
                    "y": 0.004967137705534697,
                    "z": -0.01309868786484003
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6706112623214722,
                "transform": {
                    "location": {
                        "x": -174.48570251464844,
                        "y": 4326.02978515625,
                        "z": 373.11968994140625
                    },
                    "rotation": {
                        "roll": -0.0011291569098830223,
                        "pitch": -0.4028991758823395,
                        "yaw": -89.96464538574219
                    }
                },
                "velocity": {
                    "x": -0.0006225361139513552,
                    "y": -0.6706087589263916,
                    "z": -0.0017200374277308583
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9114973545074463,
                "transform": {
                    "location": {
                        "x": -200.9090576171875,
                        "y": 4298.8857421875,
                        "z": 373.21209716796875
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": -0.13824301958084106,
                        "yaw": -0.108856201171875
                    }
                },
                "velocity": {
                    "x": 2.9114632606506348,
                    "y": -0.009494244121015072,
                    "z": -0.010313663631677628
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003553955757524818,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 1.8131844626623206e-05,
                    "y": -3.156126331305131e-05,
                    "z": 0.0003535267023835331
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00017849398136604577,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 9.191519893647637e-06,
                    "y": -4.510738449425844e-07,
                    "z": -0.00017825659597292542
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.811588875483721e-05,
                "transform": {
                    "location": {
                        "x": -174.50132751464844,
                        "y": 4314.60302734375,
                        "z": 373.1114807128906
                    },
                    "rotation": {
                        "roll": 0.0015295331832021475,
                        "pitch": -0.07171697914600372,
                        "yaw": -91.08035278320312
                    }
                },
                "velocity": {
                    "x": 6.765410944353789e-05,
                    "y": -1.0486804058018606e-05,
                    "z": 3.761701736948453e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.4529144763946533,
                "transform": {
                    "location": {
                        "x": -103.48780822753906,
                        "y": 4294.88037109375,
                        "z": 372.8101806640625
                    },
                    "rotation": {
                        "roll": 0.0019230766920372844,
                        "pitch": 0.22344963252544403,
                        "yaw": 179.76502990722656
                    }
                },
                "velocity": {
                    "x": -2.4528350830078125,
                    "y": 0.01733565703034401,
                    "z": 0.009415130130946636
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007573678740300238,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2576393601193558e-05,
                    "y": -1.3650807886733674e-05,
                    "z": 0.000757140398491174
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.015225380659103394,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.288818359375
                    },
                    "rotation": {
                        "roll": 4.0462469769408926e-05,
                        "pitch": 0.22197429835796356,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 6.578147440450266e-05,
                    "y": -1.531412999611348e-05,
                    "z": 0.015225231647491455
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009161829948425293,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.0009899534052237868,
                        "pitch": 0.22181038558483124,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 3.6865844776912127e-06,
                    "y": 4.7209141484927386e-05,
                    "z": 0.0009149584802798927
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.230953574180603,
                "transform": {
                    "location": {
                        "x": -202.0828857421875,
                        "y": 4302.13720703125,
                        "z": 373.2179260253906
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": -0.307768315076828,
                        "yaw": -0.0766906589269638
                    }
                },
                "velocity": {
                    "x": 1.2309377193450928,
                    "y": -0.003538070246577263,
                    "z": -0.005146541632711887
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -89.54593658447266,
                        "y": 4294.8955078125,
                        "z": 372.7648620605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23358562588691711,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.014566085301339626,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.288818359375
                    },
                    "rotation": {
                        "roll": 0.0015287864953279495,
                        "pitch": 0.2212434709072113,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 6.310887692961842e-05,
                    "y": -6.779112300137058e-05,
                    "z": 0.014565791003406048
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007214669603854418,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 3.872066827170784e-06,
                    "y": 2.1418249161797576e-05,
                    "z": 0.000721138552762568
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.129107475280762,
                "transform": {
                    "location": {
                        "x": -121.41937255859375,
                        "y": 4294.98291015625,
                        "z": 372.89642333984375
                    },
                    "rotation": {
                        "roll": 0.007856006734073162,
                        "pitch": 0.22191967070102692,
                        "yaw": 179.24668884277344
                    }
                },
                "velocity": {
                    "x": -8.128832817077637,
                    "y": 0.05813364312052727,
                    "z": 0.0329025536775589
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.009854793548584,
                "transform": {
                    "location": {
                        "x": -139.5875701904297,
                        "y": 4295.09228515625,
                        "z": 372.95599365234375
                    },
                    "rotation": {
                        "roll": -0.0003356932429596782,
                        "pitch": 0.21972717344760895,
                        "yaw": 179.65928649902344
                    }
                },
                "velocity": {
                    "x": -1.0098341703414917,
                    "y": 0.005799094680696726,
                    "z": 0.002847986062988639
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3315974473953247,
        "expert_target_speed": 10.0,
        "target_point": [
            20.254220356274185,
            0.9004551497581142
        ],
        "target_point_next": [
            31.249066376640037,
            1.2365241472200597
        ]
    },
    "565": {
        "acceleration": [
            -0.022299420088529587,
            -9.42678889259696e-05,
            -0.00985710695385933
        ],
        "angular_velocity": [
            0.07769052684307098,
            4.054667949676514,
            0.0003287195286247879
        ],
        "forward_vector": [
            -0.9992154836654663,
            0.03647720441222191,
            -0.01542173232883215
        ],
        "right_vector": [
            -0.036477189511060715,
            -0.999334454536438,
            -0.00028201122768223286
        ],
        "location": [
            -166.05702209472656,
            4292.37890625,
            373.0578308105469
        ],
        "rotation": [
            0.01615997403860092,
            -0.8836351633071899,
            177.9093017578125
        ],
        "velocity": [
            0.012321625836193562,
            -0.0002721581840887666,
            0.0014602660667151213
        ],
        "speed": 0.012324631163824708,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.466148376464844,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.2015156745910645,
                "transform": {
                    "location": {
                        "x": -174.50100708007812,
                        "y": 4340.75,
                        "z": 373.126953125
                    },
                    "rotation": {
                        "roll": 0.0018010535277426243,
                        "pitch": -0.07101347297430038,
                        "yaw": -89.55423736572266
                    }
                },
                "velocity": {
                    "x": 0.039254143834114075,
                    "y": -7.201408386230469,
                    "z": 0.0021760750096291304
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.731637954711914,
                "transform": {
                    "location": {
                        "x": -217.31109619140625,
                        "y": 4298.93896484375,
                        "z": 373.2394714355469
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -0.055720679461956024,
                        "yaw": 0.1542147845029831
                    }
                },
                "velocity": {
                    "x": 4.731592178344727,
                    "y": 0.010104209184646606,
                    "z": -0.018217897042632103
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.3806042671203613,
                "transform": {
                    "location": {
                        "x": -217.71148681640625,
                        "y": 4302.1904296875,
                        "z": 373.27587890625
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": -0.19841697812080383,
                        "yaw": 0.15924882888793945
                    }
                },
                "velocity": {
                    "x": 3.380573272705078,
                    "y": 0.005099252797663212,
                    "z": -0.01354513131082058
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.60274076461792,
                "transform": {
                    "location": {
                        "x": -174.48570251464844,
                        "y": 4325.7392578125,
                        "z": 373.1176452636719
                    },
                    "rotation": {
                        "roll": 0.0013899087207391858,
                        "pitch": 0.09702283143997192,
                        "yaw": -89.96825408935547
                    }
                },
                "velocity": {
                    "x": -0.0009596053860150278,
                    "y": -1.6027393341064453,
                    "z": -0.0019399928860366344
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.125699520111084,
                "transform": {
                    "location": {
                        "x": -200.30889892578125,
                        "y": 4298.8837890625,
                        "z": 373.21142578125
                    },
                    "rotation": {
                        "roll": -0.0023498532827943563,
                        "pitch": -0.3083761930465698,
                        "yaw": -0.0801696702837944
                    }
                },
                "velocity": {
                    "x": 1.1256898641586304,
                    "y": -0.0012788460589945316,
                    "z": -0.004478397313505411
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001049939775839448,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 2.4955347726063337e-06,
                    "y": 7.208559691207483e-05,
                    "z": 0.0010474593145772815
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004341909952927381,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 4.080086910107639e-06,
                    "y": 3.6747630360878247e-07,
                    "z": 0.0004341716703493148
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000532827980350703,
                "transform": {
                    "location": {
                        "x": -174.50132751464844,
                        "y": 4314.60302734375,
                        "z": 373.1114807128906
                    },
                    "rotation": {
                        "roll": 0.0015295331832021475,
                        "pitch": -0.07171697914600372,
                        "yaw": -91.08035278320312
                    }
                },
                "velocity": {
                    "x": 3.288294828962535e-05,
                    "y": 2.1776463654532563e-06,
                    "z": 0.0005318078910931945
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.105842590332031,
                "transform": {
                    "location": {
                        "x": -104.31351470947266,
                        "y": 4294.884765625,
                        "z": 372.8128356933594
                    },
                    "rotation": {
                        "roll": 0.0020591840147972107,
                        "pitch": 0.31614893674850464,
                        "yaw": 179.73529052734375
                    }
                },
                "velocity": {
                    "x": -4.105748653411865,
                    "y": 0.02303539402782917,
                    "z": 0.015522556379437447
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008947188616730273,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2900390625
                    },
                    "rotation": {
                        "roll": 0.0005898331291973591,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 7.762834684399422e-06,
                    "y": -2.573867050159606e-06,
                    "z": 0.0008946814923547208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009794418001547456,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00017162073345389217,
                        "pitch": 0.2216532826423645,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 5.371868496695242e-07,
                    "y": 4.7270073991967365e-05,
                    "z": 0.0009783002315089107
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010683852015063167,
                "transform": {
                    "location": {
                        "x": -202.0556182861328,
                        "y": 4302.1376953125,
                        "z": 373.2181701660156
                    },
                    "rotation": {
                        "roll": 0.00010084279347211123,
                        "pitch": -0.34823718667030334,
                        "yaw": -0.0840759128332138
                    }
                },
                "velocity": {
                    "x": -0.0009471757221035659,
                    "y": 0.00015551138494629413,
                    "z": -0.0004691709182225168
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -90.37921905517578,
                        "y": 4294.900390625,
                        "z": 372.7682800292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23358562588691711,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001708816271275282,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.289794921875
                    },
                    "rotation": {
                        "roll": 0.0016371445963159204,
                        "pitch": 0.2211410254240036,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 1.3156234672351275e-05,
                    "y": -5.685769428964704e-05,
                    "z": 0.0017078194068744779
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009644372039474547,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.999817686737515e-05,
                    "y": -6.68938128001173e-07,
                    "z": 0.0009642296354286373
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.47322154045105,
                "transform": {
                    "location": {
                        "x": -123.00328063964844,
                        "y": 4294.9921875,
                        "z": 372.9097595214844
                    },
                    "rotation": {
                        "roll": 0.013411356136202812,
                        "pitch": -0.6392168998718262,
                        "yaw": 179.05262756347656
                    }
                },
                "velocity": {
                    "x": -3.4731686115264893,
                    "y": 0.015267941169440746,
                    "z": 0.011630124412477016
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5665026903152466,
                "transform": {
                    "location": {
                        "x": -139.9117889404297,
                        "y": 4295.0947265625,
                        "z": 372.9569396972656
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": 0.2400674819946289,
                        "yaw": 179.76649475097656
                    }
                },
                "velocity": {
                    "x": -1.5664663314819336,
                    "y": 0.008800727315247059,
                    "z": 0.006062440574169159
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3312720060348511,
        "expert_target_speed": 10.0,
        "target_point": [
            20.248681027259003,
            0.900431982816124
        ],
        "target_point_next": [
            31.24353217435083,
            1.2363332122027528
        ]
    },
    "570": {
        "acceleration": [
            -0.024274727329611778,
            -0.0010785284684970975,
            -0.008548403158783913
        ],
        "angular_velocity": [
            0.0474679209291935,
            1.7303496599197388,
            0.00017314322758466005
        ],
        "forward_vector": [
            -0.999329149723053,
            0.03647777438163757,
            -0.0032628716435283422
        ],
        "right_vector": [
            -0.03647772595286369,
            -0.999334454536438,
            -7.430292316712439e-05
        ],
        "location": [
            -166.06163024902344,
            4292.37890625,
            373.055419921875
        ],
        "rotation": [
            0.0042572664096951485,
            -0.18694910407066345,
            177.9095001220703
        ],
        "velocity": [
            0.005509049165993929,
            -0.00015886116307228804,
            0.00151364179328084
        ],
        "speed": 0.00551133918231051,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.4615478515625,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                7.960311450005975e-06,
                -9.557655175740365e-06,
                0.0009022755548357964
            ],
            "speed_kmh": 0.0032485006330180517,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0789482593536377,
                "transform": {
                    "location": {
                        "x": -174.49569702148438,
                        "y": 4339.48876953125,
                        "z": 373.1266784667969
                    },
                    "rotation": {
                        "roll": -0.0065917763859033585,
                        "pitch": -0.8334947824478149,
                        "yaw": -89.29523468017578
                    }
                },
                "velocity": {
                    "x": 0.00016385137860197574,
                    "y": -2.0789477825164795,
                    "z": -0.0015304755652323365
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.377910614013672,
                "transform": {
                    "location": {
                        "x": -216.0048370361328,
                        "y": 4298.94091796875,
                        "z": 373.2347717285156
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": -0.1073295846581459,
                        "yaw": 0.12679269909858704
                    }
                },
                "velocity": {
                    "x": 5.377851486206055,
                    "y": 0.011435317806899548,
                    "z": -0.022408584132790565
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.077173948287964,
                "transform": {
                    "location": {
                        "x": -216.92132568359375,
                        "y": 4302.1923828125,
                        "z": 373.2732238769531
                    },
                    "rotation": {
                        "roll": -0.0010986330453306437,
                        "pitch": -0.24151547253131866,
                        "yaw": 0.13295212388038635
                    }
                },
                "velocity": {
                    "x": 3.0771443843841553,
                    "y": 0.004376096185296774,
                    "z": -0.012780198827385902
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2235348224639893,
                "transform": {
                    "location": {
                        "x": -174.48562622070312,
                        "y": 4325.244140625,
                        "z": 373.1167907714844
                    },
                    "rotation": {
                        "roll": 0.0006211785366758704,
                        "pitch": 0.2282990664243698,
                        "yaw": -89.99459838867188
                    }
                },
                "velocity": {
                    "x": -0.0019422359764575958,
                    "y": -2.2235333919525146,
                    "z": -0.001610670005902648
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011254377895966172,
                "transform": {
                    "location": {
                        "x": -200.28781127929688,
                        "y": 4298.8837890625,
                        "z": 373.2115783691406
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.33871588110923767,
                        "yaw": -0.0656432956457138
                    }
                },
                "velocity": {
                    "x": -0.0009266537963412702,
                    "y": 1.2654529200517572e-05,
                    "z": 0.0006385630695149302
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00038307736394926906,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 2.2295564122032374e-05,
                    "y": 6.3968436734285206e-06,
                    "z": 0.00038237450644373894
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001631918566999957,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 5.963407147646649e-06,
                    "y": 1.3319539903022815e-05,
                    "z": 0.00016253802459686995
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00010115684563061222,
                "transform": {
                    "location": {
                        "x": -174.50132751464844,
                        "y": 4314.60302734375,
                        "z": 373.1114807128906
                    },
                    "rotation": {
                        "roll": 0.0015295331832021475,
                        "pitch": -0.07171697914600372,
                        "yaw": -91.08035278320312
                    }
                },
                "velocity": {
                    "x": -2.2708102278556908e-06,
                    "y": 1.3535469634007313e-06,
                    "z": 0.00010112229210790247
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.277416229248047,
                "transform": {
                    "location": {
                        "x": -105.48655700683594,
                        "y": 4294.89013671875,
                        "z": 372.8174133300781
                    },
                    "rotation": {
                        "roll": -0.0007019042386673391,
                        "pitch": 0.32338210940361023,
                        "yaw": 179.59693908691406
                    }
                },
                "velocity": {
                    "x": -5.277283668518066,
                    "y": 0.030615517869591713,
                    "z": 0.021458186209201813
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009023612947203219,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 7.960311450005975e-06,
                    "y": -9.557655175740365e-06,
                    "z": 0.0009022755548357964
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006589363911189139,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2900390625
                    },
                    "rotation": {
                        "roll": 0.0005898331291973591,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 7.610730790474918e-06,
                    "y": 6.57339933241019e-06,
                    "z": -0.0006588596734218299
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010104774264618754,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00017162073345389217,
                        "pitch": 0.2216532826423645,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 7.426328920701053e-06,
                    "y": 4.58447502751369e-05,
                    "z": 0.0010094096651300788
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005972333601675928,
                "transform": {
                    "location": {
                        "x": -202.05491638183594,
                        "y": 4302.1376953125,
                        "z": 373.21728515625
                    },
                    "rotation": {
                        "roll": 0.0009319639066234231,
                        "pitch": -0.24756018817424774,
                        "yaw": -0.0841064378619194
                    }
                },
                "velocity": {
                    "x": -0.00011788174015237018,
                    "y": 0.00030663696816191077,
                    "z": -0.0004987638094462454
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -91.62913513183594,
                        "y": 4294.908203125,
                        "z": 372.7733459472656
                    },
                    "rotation": {
                        "roll": -5.211063525134563e-11,
                        "pitch": 0.23211713135242462,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0014221742749214172,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2899169921875
                    },
                    "rotation": {
                        "roll": 0.001152370823547244,
                        "pitch": 0.22104540467262268,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 9.495242920820601e-06,
                    "y": -6.979860245337477e-06,
                    "z": 0.00142212538048625
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010858745081350207,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.98562065634178e-05,
                    "y": 1.777811485226266e-05,
                    "z": 0.001085547381080687
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2621015310287476,
                "transform": {
                    "location": {
                        "x": -123.3781967163086,
                        "y": 4294.994140625,
                        "z": 372.9117431640625
                    },
                    "rotation": {
                        "roll": 0.02171529456973076,
                        "pitch": -0.7335417866706848,
                        "yaw": 179.0550537109375
                    }
                },
                "velocity": {
                    "x": -1.2620584964752197,
                    "y": 0.009601243771612644,
                    "z": 0.004057922400534153
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0483832359313965,
                "transform": {
                    "location": {
                        "x": -140.37069702148438,
                        "y": 4295.09912109375,
                        "z": 372.9588317871094
                    },
                    "rotation": {
                        "roll": 0.0011218292638659477,
                        "pitch": 0.23791596293449402,
                        "yaw": 179.97386169433594
                    }
                },
                "velocity": {
                    "x": -2.048348903656006,
                    "y": 0.010147258639335632,
                    "z": 0.006156100891530514
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3434702754020691,
        "expert_target_speed": 10.0,
        "target_point": [
            20.244079374545294,
            0.9001866459705886
        ],
        "target_point_next": [
            31.238931802918625,
            1.2360459333261666
        ]
    },
    "575": {
        "acceleration": [
            -0.009228498674929142,
            0.00022421678295359015,
            -0.0017459644004702568
        ],
        "angular_velocity": [
            -0.013393905013799667,
            0.580859363079071,
            7.492306758649647e-05
        ],
        "forward_vector": [
            -0.9993336200714111,
            0.036477938294410706,
            0.0013035531155765057
        ],
        "right_vector": [
            -0.03647787123918533,
            -0.999334454536438,
            7.510104478569701e-05
        ],
        "location": [
            -166.06358337402344,
            4292.37890625,
            373.0544738769531
        ],
        "rotation": [
            -0.004302976652979851,
            0.07468811422586441,
            177.9095001220703
        ],
        "velocity": [
            0.0018866902682930231,
            1.1022025319107343e-05,
            0.0012926511699333787
        ],
        "speed": 0.0018867224632981223,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.459598541259766,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.722096936253365e-06,
                -6.19179331806663e-07,
                0.0005410248995758593
            ],
            "speed_kmh": 0.0019479440002564917,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7181684970855713,
                "transform": {
                    "location": {
                        "x": -174.49522399902344,
                        "y": 4339.36669921875,
                        "z": 373.126708984375
                    },
                    "rotation": {
                        "roll": -0.012023930437862873,
                        "pitch": -0.44939911365509033,
                        "yaw": -89.28875732421875
                    }
                },
                "velocity": {
                    "x": 0.004926320631057024,
                    "y": -0.7181494832038879,
                    "z": 0.0017469882732257247
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.688836097717285,
                "transform": {
                    "location": {
                        "x": -214.57522583007812,
                        "y": 4298.94384765625,
                        "z": 373.229248046875
                    },
                    "rotation": {
                        "roll": -0.0020141599234193563,
                        "pitch": -0.02333875559270382,
                        "yaw": 0.13500143587589264
                    }
                },
                "velocity": {
                    "x": 6.688769817352295,
                    "y": 0.014177672564983368,
                    "z": -0.026165803894400597
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.050807237625122,
                "transform": {
                    "location": {
                        "x": -216.2489776611328,
                        "y": 4302.19384765625,
                        "z": 373.2711181640625
                    },
                    "rotation": {
                        "roll": -0.0020751948468387127,
                        "pitch": -0.2996813654899597,
                        "yaw": 0.08641280233860016
                    }
                },
                "velocity": {
                    "x": 2.0507895946502686,
                    "y": 0.0007152704056352377,
                    "z": -0.008495187386870384
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0022607792634516954,
                "transform": {
                    "location": {
                        "x": -174.48545837402344,
                        "y": 4324.98828125,
                        "z": 373.1195983886719
                    },
                    "rotation": {
                        "roll": 0.000916276010684669,
                        "pitch": -0.5588938593864441,
                        "yaw": -90.03323364257812
                    }
                },
                "velocity": {
                    "x": -6.179779302328825e-05,
                    "y": -0.0021982735488563776,
                    "z": -0.0005243063205853105
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006730539025738835,
                "transform": {
                    "location": {
                        "x": -200.2871856689453,
                        "y": 4298.8837890625,
                        "z": 373.2107849121094
                    },
                    "rotation": {
                        "roll": -0.0015563962515443563,
                        "pitch": -0.24285419285297394,
                        "yaw": -0.065673828125
                    }
                },
                "velocity": {
                    "x": -0.00014581186405848712,
                    "y": -4.066219480591826e-05,
                    "z": 0.0006558102322742343
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015605160733684897,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 1.5500076187890954e-05,
                    "y": -1.180861727334559e-05,
                    "z": 0.0015603944193571806
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1802965673268773e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 6.07151514486759e-06,
                    "y": -9.096184072632241e-08,
                    "z": 1.0121187187905889e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.244277756195515e-05,
                "transform": {
                    "location": {
                        "x": -174.50132751464844,
                        "y": 4314.60302734375,
                        "z": 373.1114807128906
                    },
                    "rotation": {
                        "roll": 0.0015295331832021475,
                        "pitch": -0.07171697914600372,
                        "yaw": -91.08035278320312
                    }
                },
                "velocity": {
                    "x": 2.5583909518900327e-05,
                    "y": 1.0005543117586058e-05,
                    "z": -5.607542334473692e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.074113368988037,
                "transform": {
                    "location": {
                        "x": -106.9555435180664,
                        "y": 4294.8984375,
                        "z": 372.8230895996094
                    },
                    "rotation": {
                        "roll": -0.0003967286611441523,
                        "pitch": 0.35570257902145386,
                        "yaw": 179.56211853027344
                    }
                },
                "velocity": {
                    "x": -7.0739288330078125,
                    "y": 0.04277665913105011,
                    "z": 0.02786729671061039
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005410955636762083,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.722096936253365e-06,
                    "y": -6.19179331806663e-07,
                    "z": 0.0005410248995758593
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001284911879338324,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0005524683510884643,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 4.046261437906651e-06,
                    "y": -1.0662287422746886e-05,
                    "z": -0.0012848612386733294
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009093524422496557,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889099121094
                    },
                    "rotation": {
                        "roll": 0.0004898554179817438,
                        "pitch": 0.22197429835796356,
                        "yaw": 179.66146850585938
                    }
                },
                "velocity": {
                    "x": 1.4248378647607751e-05,
                    "y": 2.621080511744367e-06,
                    "z": 0.0009092370746657252
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001368258526781574,
                "transform": {
                    "location": {
                        "x": -202.0547637939453,
                        "y": 4302.1376953125,
                        "z": 373.2170715332031
                    },
                    "rotation": {
                        "roll": 0.0001907189143821597,
                        "pitch": -0.22204260528087616,
                        "yaw": -0.0841064378619194
                    }
                },
                "velocity": {
                    "x": -6.597194442292675e-05,
                    "y": 5.619729108730098e-06,
                    "z": -0.00011973902292083949
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -92.46241760253906,
                        "y": 4294.9130859375,
                        "z": 372.7767028808594
                    },
                    "rotation": {
                        "roll": -5.211063525134563e-11,
                        "pitch": 0.23211713135242462,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003612987056840211,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2899169921875
                    },
                    "rotation": {
                        "roll": 0.001152370823547244,
                        "pitch": 0.22104540467262268,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 7.353126875386806e-06,
                    "y": -1.94980366359232e-05,
                    "z": 0.0003606972750276327
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015468173660337925,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.562945544719696e-05,
                    "y": -2.8476397346821614e-05,
                    "z": 0.0015464762691408396
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7564634084701538,
                "transform": {
                    "location": {
                        "x": -123.77030944824219,
                        "y": 4294.99658203125,
                        "z": 372.90435791015625
                    },
                    "rotation": {
                        "roll": -0.008178710006177425,
                        "pitch": 0.3873126804828644,
                        "yaw": 179.0474090576172
                    }
                },
                "velocity": {
                    "x": -1.7563961744308472,
                    "y": 0.014094783924520016,
                    "z": 0.00611922238022089
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008223074255511165,
                "transform": {
                    "location": {
                        "x": -140.62515258789062,
                        "y": 4295.1015625,
                        "z": 372.96038818359375
                    },
                    "rotation": {
                        "roll": 0.0006199401104822755,
                        "pitch": 0.1581871658563614,
                        "yaw": -179.83099365234375
                    }
                },
                "velocity": {
                    "x": 2.771429763015476e-06,
                    "y": -1.3950190805189777e-05,
                    "z": 0.0008221843745559454
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34839123487472534,
        "expert_target_speed": 10.0,
        "target_point": [
            20.242127549404398,
            0.9001154007252007
        ],
        "target_point_next": [
            31.23697997777773,
            1.2359746880807787
        ]
    },
    "580": {
        "acceleration": [
            -1.0416282415390015,
            0.03758325055241585,
            0.0010269181802868843
        ],
        "angular_velocity": [
            0.019474606961011887,
            0.36948734521865845,
            -0.595650851726532
        ],
        "forward_vector": [
            -0.9993293881416321,
            0.036491379141807556,
            0.0030269573908299208
        ],
        "right_vector": [
            -0.0364912673830986,
            -0.9993339776992798,
            9.26775683183223e-05
        ],
        "location": [
            -166.0711669921875,
            4292.37890625,
            373.05413818359375
        ],
        "rotation": [
            -0.005310057662427425,
            0.1734321564435959,
            177.90872192382812
        ],
        "velocity": [
            -0.06817624717950821,
            0.002895020181313157,
            0.0012557506561279297
        ],
        "speed": 0.06823768622492714,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.4520149230957,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1853538126160856e-05,
                -2.0188761482131667e-05,
                0.0012683178065344691
            ],
            "speed_kmh": 0.004566721891547582,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0233993530273438,
                "transform": {
                    "location": {
                        "x": -174.4933624267578,
                        "y": 4339.0009765625,
                        "z": 373.126953125
                    },
                    "rotation": {
                        "roll": 0.0016179041704162955,
                        "pitch": 0.11454909294843674,
                        "yaw": -89.36643981933594
                    }
                },
                "velocity": {
                    "x": 0.010967009700834751,
                    "y": -2.023369073867798,
                    "z": 0.0016898249741643667
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.546986103057861,
                "transform": {
                    "location": {
                        "x": -212.71702575683594,
                        "y": 4298.94482421875,
                        "z": 373.22210693359375
                    },
                    "rotation": {
                        "roll": 0.007358358707278967,
                        "pitch": -0.06506437808275223,
                        "yaw": 0.01670512557029724
                    }
                },
                "velocity": {
                    "x": 7.546926021575928,
                    "y": -0.005273804534226656,
                    "z": -0.02967289835214615
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6326087117195129,
                "transform": {
                    "location": {
                        "x": -216.1346893310547,
                        "y": 4302.19384765625,
                        "z": 373.27099609375
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": -0.34298476576805115,
                        "yaw": 0.05451257899403572
                    }
                },
                "velocity": {
                    "x": 0.6326035261154175,
                    "y": 0.0004602990229614079,
                    "z": -0.0025160121731460094
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0036338851787149906,
                "transform": {
                    "location": {
                        "x": -174.48545837402344,
                        "y": 4324.98681640625,
                        "z": 373.1186218261719
                    },
                    "rotation": {
                        "roll": 0.0007303468883037567,
                        "pitch": -0.30386143922805786,
                        "yaw": -90.0333251953125
                    }
                },
                "velocity": {
                    "x": -7.795022975187749e-05,
                    "y": 0.00357431429438293,
                    "z": -0.0006506319041363895
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006510867387987673,
                "transform": {
                    "location": {
                        "x": -200.2870330810547,
                        "y": 4298.8837890625,
                        "z": 373.2105407714844
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": -0.21750053763389587,
                        "yaw": -0.0656738206744194
                    }
                },
                "velocity": {
                    "x": -4.3483672925503924e-05,
                    "y": -3.182997170370072e-05,
                    "z": 0.0006488527869805694
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000733574153855443,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 2.0634568500099704e-05,
                    "y": 2.7950933144893497e-05,
                    "z": 0.0007327510393224657
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002794366446323693,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 5.941912604612298e-06,
                    "y": 1.1140510650875513e-05,
                    "z": 0.00027915125247091055
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00019980910292360932,
                "transform": {
                    "location": {
                        "x": -174.50132751464844,
                        "y": 4314.60302734375,
                        "z": 373.1114807128906
                    },
                    "rotation": {
                        "roll": 0.0015295331832021475,
                        "pitch": -0.07171697914600372,
                        "yaw": -91.08035278320312
                    }
                },
                "velocity": {
                    "x": -1.695304376880813e-06,
                    "y": 4.51762207376305e-06,
                    "z": 0.00019975083705503494
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.000986099243164,
                "transform": {
                    "location": {
                        "x": -108.90312194824219,
                        "y": 4294.91064453125,
                        "z": 372.8311767578125
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": 0.31331440806388855,
                        "yaw": 179.63507080078125
                    }
                },
                "velocity": {
                    "x": -8.000778198242188,
                    "y": 0.047446589916944504,
                    "z": 0.0328921414911747
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00126853387337178,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1853538126160856e-05,
                    "y": -2.0188761482131667e-05,
                    "z": 0.0012683178065344691
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005180354928597808,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0005524683510884643,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 4.93962306791218e-06,
                    "y": -9.31955310079502e-06,
                    "z": -0.0005179280997253954
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.7334782973630354e-05,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00010894153092522174,
                        "pitch": 0.22204944491386414,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 8.604526556155179e-06,
                    "y": -3.022014993803168e-07,
                    "z": 3.6328456189949065e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00022164372785482556,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.2170104980469
                    },
                    "rotation": {
                        "roll": -0.0007019042386673391,
                        "pitch": -0.21575883030891418,
                        "yaw": -0.0841369479894638
                    }
                },
                "velocity": {
                    "x": -1.5491730664507486e-05,
                    "y": 1.1298562640149612e-05,
                    "z": 0.00022081279894337058
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -94.45249938964844,
                        "y": 4294.92529296875,
                        "z": 372.7847900390625
                    },
                    "rotation": {
                        "roll": -5.211063525134563e-11,
                        "pitch": 0.23211713135242462,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.213835902395658e-05,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2899169921875
                    },
                    "rotation": {
                        "roll": 0.001152370823547244,
                        "pitch": 0.22104540467262268,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 9.823329492064659e-06,
                    "y": 4.446812454261817e-06,
                    "z": -5.1011142204515636e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012471956433728337,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 7.012635251157917e-06,
                    "y": 5.534710453503067e-06,
                    "z": 0.0012471636291593313
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5725231170654297,
                "transform": {
                    "location": {
                        "x": -124.19695281982422,
                        "y": 4295.00048828125,
                        "z": 372.90625
                    },
                    "rotation": {
                        "roll": -0.004150390159338713,
                        "pitch": 0.34925487637519836,
                        "yaw": 179.09458923339844
                    }
                },
                "velocity": {
                    "x": -1.5724828243255615,
                    "y": 0.009455693885684013,
                    "z": 0.0061117359437048435
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0015272431774064898,
                "transform": {
                    "location": {
                        "x": -140.62547302246094,
                        "y": 4295.1015625,
                        "z": 372.9599914550781
                    },
                    "rotation": {
                        "roll": 0.002054795389994979,
                        "pitch": 0.20280197262763977,
                        "yaw": -179.83099365234375
                    }
                },
                "velocity": {
                    "x": 6.842348375357687e-05,
                    "y": -2.2386046111932956e-05,
                    "z": 0.0015255453763529658
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3532794415950775,
        "expert_target_speed": 10.0,
        "target_point": [
            20.234536962402277,
            0.9001089290909382
        ],
        "target_point_next": [
            31.22938490559036,
            1.2361150135338073
        ]
    },
    "585": {
        "acceleration": [
            0.8391256332397461,
            -0.03884119167923927,
            -0.005040359683334827
        ],
        "angular_velocity": [
            7.7640033850912e-06,
            -0.133004829287529,
            0.6538416743278503
        ],
        "forward_vector": [
            -0.9993277788162231,
            0.036500152200460434,
            0.0034125978127121925
        ],
        "right_vector": [
            -0.036499984562397,
            -0.9993336200714111,
            0.00011185208859387785
        ],
        "location": [
            -166.0839080810547,
            4292.37890625,
            373.0541076660156
        ],
        "rotation": [
            -0.006408690009266138,
            0.1955278217792511,
            177.90821838378906
        ],
        "velocity": [
            -0.034683242440223694,
            0.0015776680083945394,
            0.0013543033273890615
        ],
        "speed": 0.034719106303475696,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.439273834228516,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0571293387329206e-05,
                -1.9057711142522749e-07,
                0.00043283324339427054
            ],
            "speed_kmh": 0.0015586644958917022,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.020939260721206665,
                "transform": {
                    "location": {
                        "x": -174.49179077148438,
                        "y": 4338.56689453125,
                        "z": 373.1268615722656
                    },
                    "rotation": {
                        "roll": -0.004974366631358862,
                        "pitch": -0.2691026031970978,
                        "yaw": -89.44164276123047
                    }
                },
                "velocity": {
                    "x": -7.493994053220376e-05,
                    "y": -0.020882967859506607,
                    "z": 0.0015325344866141677
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.1998138427734375,
                "transform": {
                    "location": {
                        "x": -210.980224609375,
                        "y": 4298.9423828125,
                        "z": 373.2151184082031
                    },
                    "rotation": {
                        "roll": 0.0047300392761826515,
                        "pitch": -0.33487048745155334,
                        "yaw": -0.0665588229894638
                    }
                },
                "velocity": {
                    "x": 6.1997551918029785,
                    "y": -0.012723272666335106,
                    "z": -0.023769130930304527
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.3262386322021484,
                "transform": {
                    "location": {
                        "x": -215.892578125,
                        "y": 4302.19384765625,
                        "z": 373.26873779296875
                    },
                    "rotation": {
                        "roll": -0.001556396484375,
                        "pitch": -0.18175815045833588,
                        "yaw": 0.07231718301773071
                    }
                },
                "velocity": {
                    "x": 1.3262288570404053,
                    "y": 0.0019490097183734179,
                    "z": -0.004705657716840506
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0013897109311074018,
                "transform": {
                    "location": {
                        "x": -174.48545837402344,
                        "y": 4324.98486328125,
                        "z": 373.1179504394531
                    },
                    "rotation": {
                        "roll": -0.0002746556419879198,
                        "pitch": -0.1275879293680191,
                        "yaw": -90.0333251953125
                    }
                },
                "velocity": {
                    "x": 3.090603058808483e-05,
                    "y": 0.0012792348861694336,
                    "z": -0.0005421248497441411
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00012253253953531384,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": -0.21338193118572235,
                        "yaw": -0.065673828125
                    }
                },
                "velocity": {
                    "x": 3.2183527309825877e-06,
                    "y": -1.1730948244803585e-05,
                    "z": 0.0001219272380694747
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008168838685378432,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": -7.993355097823951e-07,
                    "y": 3.5487402783473954e-05,
                    "z": 0.0008161122677847743
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.46668200311251e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 6.337165814329637e-06,
                    "y": 6.109476036186834e-09,
                    "z": 4.421499033924192e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005228464724496007,
                "transform": {
                    "location": {
                        "x": -174.50132751464844,
                        "y": 4314.60302734375,
                        "z": 373.1114807128906
                    },
                    "rotation": {
                        "roll": 0.0015295331832021475,
                        "pitch": -0.07171697914600372,
                        "yaw": -91.08035278320312
                    }
                },
                "velocity": {
                    "x": -2.0402524114615517e-06,
                    "y": 1.246590181835927e-05,
                    "z": 0.0005226938519626856
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.561141490936279,
                "transform": {
                    "location": {
                        "x": -110.74101257324219,
                        "y": 4294.921875,
                        "z": 372.8395690917969
                    },
                    "rotation": {
                        "roll": 0.000764159020036459,
                        "pitch": 0.17937441170215607,
                        "yaw": 179.6516876220703
                    }
                },
                "velocity": {
                    "x": -6.560976028442383,
                    "y": 0.03839688003063202,
                    "z": 0.02650909312069416
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004329623479861766,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0571293387329206e-05,
                    "y": -1.9057711142522749e-07,
                    "z": 0.00043283324339427054
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.8609683795366436e-05,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0005524683510884643,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 7.3626265475468244e-06,
                    "y": -4.580459744829568e-07,
                    "z": -2.7642285203910433e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00044807951780967414,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00010894153092522174,
                        "pitch": 0.22204944491386414,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 2.851747012755368e-06,
                    "y": 2.399002551101148e-05,
                    "z": 0.00044742776663042605
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00019117082410957664,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.0418854799354449e-05,
                    "y": -1.1564660781004932e-05,
                    "z": 0.00019053605501540005
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -96.33367156982422,
                        "y": 4294.93603515625,
                        "z": 372.79254150390625
                    },
                    "rotation": {
                        "roll": 5.2110628312451723e-11,
                        "pitch": 0.23068279027938843,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006491679814644158,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2899169921875
                    },
                    "rotation": {
                        "roll": 0.001152370823547244,
                        "pitch": 0.22104540467262268,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 1.0680108971428126e-05,
                    "y": -6.111480161052896e-06,
                    "z": 0.0006490513333119452
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007085768738761544,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 7.505342409785953e-07,
                    "y": -5.316826718626544e-05,
                    "z": 0.0007065788959152997
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.307239532470703,
                "transform": {
                    "location": {
                        "x": -124.64921569824219,
                        "y": 4295.00439453125,
                        "z": 372.9084167480469
                    },
                    "rotation": {
                        "roll": -0.0037841792218387127,
                        "pitch": 0.30219486355781555,
                        "yaw": 179.2085418701172
                    }
                },
                "velocity": {
                    "x": -2.3071675300598145,
                    "y": 0.016079740598797798,
                    "z": 0.008561840280890465
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001302253658650443,
                "transform": {
                    "location": {
                        "x": -140.62554931640625,
                        "y": 4295.1015625,
                        "z": 372.9598693847656
                    },
                    "rotation": {
                        "roll": 0.0010542619274929166,
                        "pitch": 0.2145225703716278,
                        "yaw": -179.8309783935547
                    }
                },
                "velocity": {
                    "x": 1.4266036487242673e-05,
                    "y": -0.00012290097947698087,
                    "z": 4.062605876242742e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -226.48593139648438,
                        "y": 4298.95556640625,
                        "z": 373.6615295410156
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.35442835092544556,
        "expert_target_speed": 10.0,
        "target_point": [
            20.22179620777116,
            0.8998272027966843
        ],
        "target_point_next": [
            31.216641106324463,
            1.2359328995146759
        ]
    },
    "590": {
        "acceleration": [
            -0.10644018650054932,
            -0.0012006936594843864,
            0.009315489791333675
        ],
        "angular_velocity": [
            -0.025152750313282013,
            0.003445129841566086,
            -0.01233312301337719
        ],
        "forward_vector": [
            -0.9993259310722351,
            0.03655256703495979,
            0.0033953122328966856
        ],
        "right_vector": [
            -0.0365523137152195,
            -0.9993317127227783,
            0.00013688569015357643
        ],
        "location": [
            -166.0968780517578,
            4292.37890625,
            373.05413818359375
        ],
        "rotation": [
            -0.007843017578125,
            0.1945374310016632,
            177.90521240234375
        ],
        "velocity": [
            -0.045567888766527176,
            0.0014626578195020556,
            0.0014369868440553546
        ],
        "speed": 0.04559135723506753,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.42630386352539,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.082125982065918e-05,
                8.189288564608432e-06,
                0.0014897582586854696
            ],
            "speed_kmh": 0.00536335224288783,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2149332761764526,
                "transform": {
                    "location": {
                        "x": -174.4910125732422,
                        "y": 4338.42578125,
                        "z": 373.1269836425781
                    },
                    "rotation": {
                        "roll": 0.0005314941518008709,
                        "pitch": 0.03610437735915184,
                        "yaw": -89.41233825683594
                    }
                },
                "velocity": {
                    "x": 0.006081643048673868,
                    "y": -1.2149170637130737,
                    "z": 0.0015451048966497183
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010439184261485934,
                "transform": {
                    "location": {
                        "x": -210.2694549560547,
                        "y": 4298.93994140625,
                        "z": 373.21124267578125
                    },
                    "rotation": {
                        "roll": -0.010986328125,
                        "pitch": -1.002719521522522,
                        "yaw": 0.20235399901866913
                    }
                },
                "velocity": {
                    "x": 0.0004235720552969724,
                    "y": -0.0009466777555644512,
                    "z": 0.00011896881915163249
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1637659072875977,
                "transform": {
                    "location": {
                        "x": -215.44772338867188,
                        "y": 4302.19384765625,
                        "z": 373.2666320800781
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": -0.13913094997406006,
                        "yaw": 0.09524928778409958
                    }
                },
                "velocity": {
                    "x": 2.163749933242798,
                    "y": 0.003494163742288947,
                    "z": -0.007555150892585516
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0005605844198726118,
                "transform": {
                    "location": {
                        "x": -174.48545837402344,
                        "y": 4324.984375,
                        "z": 373.1177673339844
                    },
                    "rotation": {
                        "roll": -0.0001831045956350863,
                        "pitch": -0.07983807474374771,
                        "yaw": -90.0333251953125
                    }
                },
                "velocity": {
                    "x": -4.245209493092261e-05,
                    "y": 0.0005255224532447755,
                    "z": 0.00019047009118366987
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.989604248199612e-05,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 1.4475397620117292e-05,
                    "y": -6.669152207905427e-05,
                    "z": 5.8514971897238865e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012939218431711197,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 4.232376795698656e-06,
                    "y": 5.049504397902638e-05,
                    "z": 0.0012929292861372232
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00017847135313786566,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 7.805414497852325e-06,
                    "y": 1.3268126167531591e-05,
                    "z": 0.00017780624330043793
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7159113883972168,
                "transform": {
                    "location": {
                        "x": -174.50148010253906,
                        "y": 4314.5712890625,
                        "z": 373.1115417480469
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": 0.008763132616877556,
                        "yaw": -91.04696655273438
                    }
                },
                "velocity": {
                    "x": -0.006556492764502764,
                    "y": -0.715880274772644,
                    "z": -0.0012784290593117476
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3783010244369507,
                "transform": {
                    "location": {
                        "x": -111.84773254394531,
                        "y": 4294.9296875,
                        "z": 372.845703125
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": -0.058227360248565674,
                        "yaw": 179.97259521484375
                    }
                },
                "velocity": {
                    "x": -1.3782546520233154,
                    "y": 0.010109537281095982,
                    "z": 0.005084390752017498
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0014898200752213597,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.082125982065918e-05,
                    "y": 8.189288564608432e-06,
                    "z": 0.0014897582586854696
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00029518871451728046,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0005524683510884643,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 7.300116067199269e-06,
                    "y": -1.072604192131621e-07,
                    "z": -0.0002950984053313732
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00013254440273158252,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00010894153092522174,
                        "pitch": 0.22204944491386414,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 7.464363989129197e-06,
                    "y": 2.1747973732999526e-05,
                    "z": 0.00013053476868662983
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002479902177583426,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 2.7387513910070993e-05,
                    "y": 5.5511285609100014e-05,
                    "z": 0.00024014072550926358
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.60662317276001,
                "transform": {
                    "location": {
                        "x": -97.64046478271484,
                        "y": 4294.9375,
                        "z": 372.7906799316406
                    },
                    "rotation": {
                        "roll": -0.005401611328125,
                        "pitch": 0.1339331716299057,
                        "yaw": 179.87570190429688
                    }
                },
                "velocity": {
                    "x": -4.606574535369873,
                    "y": -0.020886968821287155,
                    "z": -0.003457345999777317
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00011139750859001651,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2899169921875
                    },
                    "rotation": {
                        "roll": 0.001152370823547244,
                        "pitch": 0.22104540467262268,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 7.520280632888898e-06,
                    "y": 1.5112777873582672e-05,
                    "z": 0.00011011109745595604
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010782522149384022,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 7.998943146958482e-06,
                    "y": 5.886945928068599e-06,
                    "z": 0.0010782064637169242
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.170234203338623,
                "transform": {
                    "location": {
                        "x": -125.46320343017578,
                        "y": 4295.0107421875,
                        "z": 372.9090881347656
                    },
                    "rotation": {
                        "roll": -0.010437010787427425,
                        "pitch": 0.618459939956665,
                        "yaw": 179.3504638671875
                    }
                },
                "velocity": {
                    "x": -4.170115947723389,
                    "y": 0.026760432869195938,
                    "z": 0.01648617722094059
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0010322590824216604,
                "transform": {
                    "location": {
                        "x": -140.62554931640625,
                        "y": 4295.1015625,
                        "z": 372.9598388671875
                    },
                    "rotation": {
                        "roll": 0.002916977507993579,
                        "pitch": 0.21785570681095123,
                        "yaw": -179.8309326171875
                    }
                },
                "velocity": {
                    "x": 1.22991950775031e-05,
                    "y": -1.7966067389352247e-06,
                    "z": 0.0010321842273697257
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4626884460449219,
                "transform": {
                    "location": {
                        "x": -226.48655700683594,
                        "y": 4298.95556640625,
                        "z": 373.28460693359375
                    },
                    "rotation": {
                        "roll": -0.0004272460355423391,
                        "pitch": -0.22327204048633575,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": -0.005610004998743534,
                    "y": -6.347928137984127e-05,
                    "z": -1.4626777172088623
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3552572429180145,
        "expert_target_speed": 10.0,
        "target_point": [
            20.20878767876769,
            0.9004137936938499
        ],
        "target_point_next": [
            31.20361493275099,
            1.2370961925148207
        ]
    },
    "595": {
        "acceleration": [
            0.2754204273223877,
            -0.004734792746603489,
            -0.0006351456977427006
        ],
        "angular_velocity": [
            0.008291774429380894,
            -0.029669426381587982,
            -0.00685152830556035
        ],
        "forward_vector": [
            -0.9993259906768799,
            0.03655280917882919,
            0.0033817223738878965
        ],
        "right_vector": [
            -0.03655262663960457,
            -0.9993317127227783,
            0.00011611314403126016
        ],
        "location": [
            -166.10546875,
            4292.37890625,
            373.05419921875
        ],
        "rotation": [
            -0.006652831099927425,
            0.1937588006258011,
            177.9051971435547
        ],
        "velocity": [
            -0.023980071768164635,
            0.0008905876893550158,
            0.0013116836780682206
        ],
        "speed": 0.023996603685495936,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.4177131652832,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.441748261451721e-06,
                -8.177345989679452e-06,
                0.0005806334665976465
            ],
            "speed_kmh": 0.0020907640819030843,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2283291816711426,
                "transform": {
                    "location": {
                        "x": -174.4891357421875,
                        "y": 4337.96044921875,
                        "z": 373.12701416015625
                    },
                    "rotation": {
                        "roll": 0.005576426163315773,
                        "pitch": 0.18967434763908386,
                        "yaw": -89.55138397216797
                    }
                },
                "velocity": {
                    "x": 0.006420497316867113,
                    "y": -2.2283194065093994,
                    "z": 0.001667299191467464
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.003481906373053789,
                "transform": {
                    "location": {
                        "x": -210.26632690429688,
                        "y": 4298.93994140625,
                        "z": 373.2119445800781
                    },
                    "rotation": {
                        "roll": -0.004028320778161287,
                        "pitch": -0.46551835536956787,
                        "yaw": 0.2020411640405655
                    }
                },
                "velocity": {
                    "x": -0.00307216658256948,
                    "y": 0.00025511777494102716,
                    "z": 0.0016187585424631834
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006965633947402239,
                "transform": {
                    "location": {
                        "x": -215.134521484375,
                        "y": 4302.19384765625,
                        "z": 373.2677307128906
                    },
                    "rotation": {
                        "roll": -0.0021667478140443563,
                        "pitch": -0.39349400997161865,
                        "yaw": 0.10265756398439407
                    }
                },
                "velocity": {
                    "x": 0.00030970864463597536,
                    "y": -0.00017214818217325956,
                    "z": -0.0005997049738653004
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.07642345130443573,
                "transform": {
                    "location": {
                        "x": -174.48545837402344,
                        "y": 4324.98095703125,
                        "z": 373.1176452636719
                    },
                    "rotation": {
                        "roll": 0.0005493167554959655,
                        "pitch": -0.042545247822999954,
                        "yaw": -90.03902435302734
                    }
                },
                "velocity": {
                    "x": -0.00015722677926532924,
                    "y": -0.07642321288585663,
                    "z": -0.00011084556172136217
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005682231858372688,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": -1.2427195542841218e-05,
                    "y": 4.029081537737511e-05,
                    "z": 0.0005666567012667656
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001258408883586526,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 5.986280484648887e-06,
                    "y": 1.8879825802287087e-05,
                    "z": 0.0012582530034705997
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001767813228070736,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 5.875453098269645e-06,
                    "y": 1.3389888408710249e-05,
                    "z": 0.00017617555567994714
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8610718250274658,
                "transform": {
                    "location": {
                        "x": -174.50320434570312,
                        "y": 4314.22509765625,
                        "z": 373.1112365722656
                    },
                    "rotation": {
                        "roll": -0.005737305153161287,
                        "pitch": 0.08934570103883743,
                        "yaw": -90.86046600341797
                    }
                },
                "velocity": {
                    "x": -0.009371266700327396,
                    "y": -1.8610464334487915,
                    "z": -0.002599735278636217
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.123433232307434,
                "transform": {
                    "location": {
                        "x": -111.9848403930664,
                        "y": 4294.93115234375,
                        "z": 372.84466552734375
                    },
                    "rotation": {
                        "roll": 0.003089361824095249,
                        "pitch": 0.13329114019870758,
                        "yaw": -179.9880828857422
                    }
                },
                "velocity": {
                    "x": -1.1234043836593628,
                    "y": 0.0077032106928527355,
                    "z": 0.002313547069206834
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005807678098790348,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.441748261451721e-06,
                    "y": -8.177345989679452e-06,
                    "z": 0.0005806334665976465
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00017028080765157938,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0005524683510884643,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 8.05325817054836e-06,
                    "y": 1.7616817785892636e-05,
                    "z": -0.00016917548782657832
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.2391482818638906e-05,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00033332043676637113,
                        "pitch": 0.22197429835796356,
                        "yaw": 179.6614990234375
                    }
                },
                "velocity": {
                    "x": 5.110539404995507e-06,
                    "y": 3.194823511876166e-05,
                    "z": -1.5494647414016072e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.104110176849645e-06,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 8.29663076729048e-06,
                    "y": -7.90702756603423e-07,
                    "z": 3.664085397758754e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0054216207936406136,
                "transform": {
                    "location": {
                        "x": -98.06765747070312,
                        "y": 4294.9365234375,
                        "z": 372.79058837890625
                    },
                    "rotation": {
                        "roll": 0.0019097537733614445,
                        "pitch": -0.0285296980291605,
                        "yaw": 179.97454833984375
                    }
                },
                "velocity": {
                    "x": 0.0004357282305136323,
                    "y": 3.2552310585742816e-05,
                    "z": -0.0054039848037064075
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003240564255975187,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2899169921875
                    },
                    "rotation": {
                        "roll": 0.001152370823547244,
                        "pitch": 0.22104540467262268,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 8.279866960947402e-06,
                    "y": 2.039203536696732e-06,
                    "z": 0.0003239442012272775
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012291537132114172,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.3840980500390287e-05,
                    "y": 1.8383932911092415e-05,
                    "z": 0.0012289382284507155
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.186211585998535,
                "transform": {
                    "location": {
                        "x": -126.71866607666016,
                        "y": 4295.02001953125,
                        "z": 372.9143371582031
                    },
                    "rotation": {
                        "roll": -0.007629394996911287,
                        "pitch": 0.6088361740112305,
                        "yaw": 179.50384521484375
                    }
                },
                "velocity": {
                    "x": -5.186073303222656,
                    "y": 0.03184089809656143,
                    "z": 0.020443733781576157
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006362738204188645,
                "transform": {
                    "location": {
                        "x": -140.62554931640625,
                        "y": 4295.1015625,
                        "z": 372.9598693847656
                    },
                    "rotation": {
                        "roll": 0.00275904661975801,
                        "pitch": 0.2177600860595703,
                        "yaw": -179.8309326171875
                    }
                },
                "velocity": {
                    "x": 1.0740234756667633e-05,
                    "y": 4.4712882640851603e-07,
                    "z": 0.0006361830164678395
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.2717438042163849,
                "transform": {
                    "location": {
                        "x": -226.48687744140625,
                        "y": 4298.95556640625,
                        "z": 373.18414306640625
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": -0.22481566667556763,
                        "yaw": -0.33868408203125
                    }
                },
                "velocity": {
                    "x": 0.0010525074321776628,
                    "y": 2.5167042622342706e-05,
                    "z": 0.2717417776584625
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.35706162452697754,
        "expert_target_speed": 10.0,
        "target_point": [
            20.20020229215505,
            0.9001094154417275
        ],
        "target_point_next": [
            31.195029385594427,
            1.2367970570048425
        ]
    },
    "600": {
        "acceleration": [
            -0.15808910131454468,
            -0.005209690425544977,
            0.011538507416844368
        ],
        "angular_velocity": [
            0.01853068545460701,
            0.02939428761601448,
            0.013990704901516438
        ],
        "forward_vector": [
            -0.9993264675140381,
            0.03654041886329651,
            0.0033888749312609434
        ],
        "right_vector": [
            -0.036540139466524124,
            -0.9993321895599365,
            0.00014434246986638755
        ],
        "location": [
            -166.11155700683594,
            4292.37890625,
            373.05419921875
        ],
        "rotation": [
            -0.00827026180922985,
            0.19416861236095428,
            177.90591430664062
        ],
        "velocity": [
            -0.02418474294245243,
            0.0005485483561642468,
            0.0016713333316147327
        ],
        "speed": 0.02419096311624556,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.411624908447266,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.966641300707124e-06,
                -1.0255124834657181e-05,
                0.00015192636055871844
            ],
            "speed_kmh": 0.0005493524573679868,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.36124274134635925,
                "transform": {
                    "location": {
                        "x": -174.4882049560547,
                        "y": 4337.767578125,
                        "z": 373.12689208984375
                    },
                    "rotation": {
                        "roll": 0.0006841457798145711,
                        "pitch": -0.24603022634983063,
                        "yaw": -89.70464324951172
                    }
                },
                "velocity": {
                    "x": -0.00116194155998528,
                    "y": -0.3612380027770996,
                    "z": 0.0014337158063426614
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010824203491210938,
                "transform": {
                    "location": {
                        "x": -210.26483154296875,
                        "y": 4298.93994140625,
                        "z": 373.2122497558594
                    },
                    "rotation": {
                        "roll": -0.0029296875,
                        "pitch": -0.27487412095069885,
                        "yaw": 0.20201218128204346
                    }
                },
                "velocity": {
                    "x": -0.0006991075351834297,
                    "y": -1.3759019566350617e-05,
                    "z": 0.0008262524497695267
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.190015435218811,
                "transform": {
                    "location": {
                        "x": -214.95147705078125,
                        "y": 4302.193359375,
                        "z": 373.26519775390625
                    },
                    "rotation": {
                        "roll": -0.0018615724984556437,
                        "pitch": -0.1946740448474884,
                        "yaw": 0.11230164766311646
                    }
                },
                "velocity": {
                    "x": 1.1900076866149902,
                    "y": 0.0026806325186043978,
                    "z": -0.003350219689309597
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6589471101760864,
                "transform": {
                    "location": {
                        "x": -174.48545837402344,
                        "y": 4324.89990234375,
                        "z": 373.1170654296875
                    },
                    "rotation": {
                        "roll": -0.0004272477817721665,
                        "pitch": 0.111933134496212,
                        "yaw": -90.0298080444336
                    }
                },
                "velocity": {
                    "x": 0.0005107613396830857,
                    "y": -0.65894615650177,
                    "z": -0.000987634644843638
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008840087102726102,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 8.190013431885745e-06,
                    "y": 1.7213131286553107e-05,
                    "z": 0.0008838031790219247
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011184513568878174,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 1.5274061979653197e-06,
                    "y": -3.973021011915989e-05,
                    "z": 0.0011177443666383624
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6076337235281244e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 5.887485713174101e-06,
                    "y": -4.5867665221521747e-07,
                    "z": 2.5398867364856414e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.293617010116577,
                "transform": {
                    "location": {
                        "x": -174.52015686035156,
                        "y": 4313.587890625,
                        "z": 373.1104736328125
                    },
                    "rotation": {
                        "roll": 0.03920575976371765,
                        "pitch": 0.13767611980438232,
                        "yaw": -91.20651245117188
                    }
                },
                "velocity": {
                    "x": -0.13462141156196594,
                    "y": -3.2908642292022705,
                    "z": -0.0020433615427464247
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5295308828353882,
                "transform": {
                    "location": {
                        "x": -112.29710388183594,
                        "y": 4294.9326171875,
                        "z": 372.8453674316406
                    },
                    "rotation": {
                        "roll": 0.00011242577602388337,
                        "pitch": 0.2400401532649994,
                        "yaw": 179.982666015625
                    }
                },
                "velocity": {
                    "x": -1.5295183658599854,
                    "y": 0.0013057520845904946,
                    "z": 0.006050777155905962
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00015259790234267712,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.966641300707124e-06,
                    "y": -1.0255124834657181e-05,
                    "z": 0.00015192636055871844
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006099927704781294,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0005524683510884643,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 4.484169039642438e-06,
                    "y": -6.323645038719405e-07,
                    "z": -0.0006099759484641254
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005898209055885673,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.0009521928150206804,
                        "pitch": 0.22187867760658264,
                        "yaw": 179.6614990234375
                    }
                },
                "velocity": {
                    "x": 6.537400167871965e-06,
                    "y": 9.440019539397326e-07,
                    "z": 0.0005897839437238872
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001491809234721586,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.9043683607833373e-07,
                    "y": 4.1610059270169586e-05,
                    "z": -0.00014326030213851482
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00139148673042655,
                "transform": {
                    "location": {
                        "x": -98.06898498535156,
                        "y": 4294.9365234375,
                        "z": 372.7887878417969
                    },
                    "rotation": {
                        "roll": 0.001231667003594339,
                        "pitch": 0.16542717814445496,
                        "yaw": 179.97459411621094
                    }
                },
                "velocity": {
                    "x": 0.0002630378003232181,
                    "y": -0.00026483507826924324,
                    "z": -0.001340488321147859
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.4321772798430175e-05,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2898864746094
                    },
                    "rotation": {
                        "roll": 0.0007387918303720653,
                        "pitch": 0.22155766189098358,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 7.857940545363817e-06,
                    "y": 4.054389137309045e-06,
                    "z": -2.265752300445456e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001171659561805427,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.4079920219955966e-05,
                    "y": -1.849712134571746e-05,
                    "z": 0.001171428943052888
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.557606220245361,
                "transform": {
                    "location": {
                        "x": -128.1367950439453,
                        "y": 4295.029296875,
                        "z": 372.9228820800781
                    },
                    "rotation": {
                        "roll": -0.00152587890625,
                        "pitch": 0.23020468652248383,
                        "yaw": 179.60487365722656
                    }
                },
                "velocity": {
                    "x": -4.557504653930664,
                    "y": 0.026582974940538406,
                    "z": 0.014767570421099663
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00022045790683478117,
                "transform": {
                    "location": {
                        "x": -140.62554931640625,
                        "y": 4295.1015625,
                        "z": 372.9598693847656
                    },
                    "rotation": {
                        "roll": 0.00275904661975801,
                        "pitch": 0.2177600860595703,
                        "yaw": -179.8309326171875
                    }
                },
                "velocity": {
                    "x": 7.640309377165977e-06,
                    "y": 4.315239038987784e-06,
                    "z": 0.00022028321109246463
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4027380645275116,
                "transform": {
                    "location": {
                        "x": -226.4696807861328,
                        "y": 4298.95556640625,
                        "z": 373.2730407714844
                    },
                    "rotation": {
                        "roll": -0.0016784669132903218,
                        "pitch": -0.19113600254058838,
                        "yaw": -0.3432311713695526
                    }
                },
                "velocity": {
                    "x": 0.3039683699607849,
                    "y": 0.002440608572214842,
                    "z": 0.26418787240982056
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.35807210206985474,
        "expert_target_speed": 10.0,
        "target_point": [
            20.19412925900787,
            0.8996365102460835
        ],
        "target_point_next": [
            31.188960525776903,
            1.2361878404885664
        ]
    },
    "605": {
        "acceleration": [
            0.23068174719810486,
            0.003885615151375532,
            -0.0010591489262878895
        ],
        "angular_velocity": [
            0.017404329031705856,
            -0.02255612425506115,
            -0.013469227589666843
        ],
        "forward_vector": [
            -0.9993277192115784,
            0.03650229424238205,
            0.0034222532995045185
        ],
        "right_vector": [
            -0.03650207072496414,
            -0.9993335604667664,
            0.00012783095007762313
        ],
        "location": [
            -166.11631774902344,
            4292.37939453125,
            373.05419921875
        ],
        "rotation": [
            -0.007324216887354851,
            0.19608105719089508,
            177.90809631347656
        ],
        "velocity": [
            -0.01055564358830452,
            0.0005370941944420338,
            0.0011412048479542136
        ],
        "speed": 0.0105692990182423,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.406864166259766,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.299946784973145e-06,
                -3.2908067169046262e-06,
                0.0008508533937856555
            ],
            "speed_kmh": 0.0030632408593672415,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5776101350784302,
                "transform": {
                    "location": {
                        "x": -174.4882049560547,
                        "y": 4337.51806640625,
                        "z": 373.12701416015625
                    },
                    "rotation": {
                        "roll": 0.002630156697705388,
                        "pitch": 0.1329154670238495,
                        "yaw": -89.70979309082031
                    }
                },
                "velocity": {
                    "x": 0.0031537290196865797,
                    "y": -1.5776066780090332,
                    "z": 0.0010277461260557175
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007933261222206056,
                "transform": {
                    "location": {
                        "x": -210.2645263671875,
                        "y": 4298.93994140625,
                        "z": 373.2123107910156
                    },
                    "rotation": {
                        "roll": -0.0032958984375,
                        "pitch": -0.24212336540222168,
                        "yaw": 0.20200493931770325
                    }
                },
                "velocity": {
                    "x": -0.00017015213961713016,
                    "y": 3.6391513276612386e-05,
                    "z": 0.0007740091532468796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.980119228363037,
                "transform": {
                    "location": {
                        "x": -214.5621795654297,
                        "y": 4302.19384765625,
                        "z": 373.2633056640625
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.14611822366714478,
                        "yaw": 0.13533595204353333
                    }
                },
                "velocity": {
                    "x": 1.980102777481079,
                    "y": 0.003529810346662998,
                    "z": -0.007259407080709934
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.49479079246521,
                "transform": {
                    "location": {
                        "x": -174.48562622070312,
                        "y": 4324.6318359375,
                        "z": 373.1163635253906
                    },
                    "rotation": {
                        "roll": -0.001770022907294333,
                        "pitch": 0.251228004693985,
                        "yaw": -89.9828872680664
                    }
                },
                "velocity": {
                    "x": -0.0009363771532662213,
                    "y": -1.4947893619537354,
                    "z": -0.001803226419724524
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010122857056558132,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 4.223696578264935e-06,
                    "y": 2.726893399085384e-05,
                    "z": 0.0010119095677509904
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015722443349659443,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 6.506852514576167e-06,
                    "y": -9.349235915578902e-05,
                    "z": 0.0015694486210122705
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002474886132404208,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 6.075277724448824e-06,
                    "y": -2.7523143216967583e-05,
                    "z": 0.0002458783856127411
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.785877227783203,
                "transform": {
                    "location": {
                        "x": -174.5660858154297,
                        "y": 4312.55908203125,
                        "z": 373.1092529296875
                    },
                    "rotation": {
                        "roll": 0.029496796429157257,
                        "pitch": 0.1623126119375229,
                        "yaw": -92.00688934326172
                    }
                },
                "velocity": {
                    "x": -0.22151878476142883,
                    "y": -4.780743598937988,
                    "z": -0.0064099691808223724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.8581671714782715,
                "transform": {
                    "location": {
                        "x": -112.83944702148438,
                        "y": 4294.93408203125,
                        "z": 372.8470764160156
                    },
                    "rotation": {
                        "roll": 0.0019809501245617867,
                        "pitch": 0.2916080951690674,
                        "yaw": 179.80921936035156
                    }
                },
                "velocity": {
                    "x": -2.8581230640411377,
                    "y": 0.011898098513484001,
                    "z": 0.01054270751774311
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008509001927450299,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.299946784973145e-06,
                    "y": -3.2908067169046262e-06,
                    "z": 0.0008508533937856555
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004556349304039031,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0005524683510884643,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 8.526742021786049e-06,
                    "y": 1.1816265214292798e-05,
                    "z": -0.0004554018669296056
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002597563143353909,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.0009521928150206804,
                        "pitch": 0.22187867760658264,
                        "yaw": 179.6614990234375
                    }
                },
                "velocity": {
                    "x": 2.0155086531303823e-05,
                    "y": 4.8468136810697615e-06,
                    "z": 0.0002589278155937791
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.7315502191195264e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 9.776279512152541e-06,
                    "y": 2.0958798359060893e-06,
                    "z": 1.4137123798718676e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3193389177322388,
                "transform": {
                    "location": {
                        "x": -98.2562484741211,
                        "y": 4294.93603515625,
                        "z": 372.788818359375
                    },
                    "rotation": {
                        "roll": 0.0002729563566390425,
                        "pitch": 0.2826741933822632,
                        "yaw": -179.98114013671875
                    }
                },
                "velocity": {
                    "x": -1.3192942142486572,
                    "y": -0.007393707055598497,
                    "z": 0.00796087272465229
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00043614624883048236,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2898864746094
                    },
                    "rotation": {
                        "roll": 0.0007387918303720653,
                        "pitch": 0.22155766189098358,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 4.06958133680746e-06,
                    "y": 3.076060693274485e-06,
                    "z": -0.0004361164174042642
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005146152107045054,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.380700632580556e-05,
                    "y": 3.3636119042057544e-05,
                    "z": 0.0005133291124366224
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.41232559084892273,
                "transform": {
                    "location": {
                        "x": -128.5086669921875,
                        "y": 4295.03173828125,
                        "z": 372.9333801269531
                    },
                    "rotation": {
                        "roll": 0.0032327771186828613,
                        "pitch": -0.9256613254547119,
                        "yaw": 179.64634704589844
                    }
                },
                "velocity": {
                    "x": -0.4123239517211914,
                    "y": 0.0010657758684828877,
                    "z": 0.00047247885959222913
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009428518824279308,
                "transform": {
                    "location": {
                        "x": -140.62554931640625,
                        "y": 4295.1015625,
                        "z": 372.9598693847656
                    },
                    "rotation": {
                        "roll": 0.002801021793857217,
                        "pitch": 0.21765762567520142,
                        "yaw": -179.8308868408203
                    }
                },
                "velocity": {
                    "x": 6.5607578108028974e-06,
                    "y": -1.6544712480026647e-06,
                    "z": 0.0009428276098333299
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9896064400672913,
                "transform": {
                    "location": {
                        "x": -226.2986602783203,
                        "y": 4298.95654296875,
                        "z": 373.2938232421875
                    },
                    "rotation": {
                        "roll": -0.005950927268713713,
                        "pitch": -0.05978464335203171,
                        "yaw": -0.2949523329734802
                    }
                },
                "velocity": {
                    "x": 0.9890143275260925,
                    "y": 0.0062731788493692875,
                    "z": -0.033649295568466187
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34387749433517456,
        "expert_target_speed": 10.0,
        "target_point": [
            20.189388169840104,
            0.899180342286318
        ],
        "target_point_next": [
            31.184232267023734,
            1.2353122527563358
        ]
    },
    "610": {
        "acceleration": [
            -0.21353986859321594,
            -0.005005355458706617,
            -0.004530141595751047
        ],
        "angular_velocity": [
            -0.030291197821497917,
            0.0437769815325737,
            0.020736677572131157
        ],
        "forward_vector": [
            -0.9993281364440918,
            0.036491572856903076,
            0.00342499534599483
        ],
        "right_vector": [
            -0.03649136424064636,
            -0.9993339776992798,
            0.00012303731637075543
        ],
        "location": [
            -166.11936950683594,
            4292.37939453125,
            373.05419921875
        ],
        "rotation": [
            -0.007049559615552425,
            0.19623816013336182,
            177.90870666503906
        ],
        "velocity": [
            -0.01557854376733303,
            0.00027802938711829484,
            0.0015089702792465687
        ],
        "speed": 0.015581024557159654,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.403812408447266,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.3124681572662666e-05,
                -8.34377442515688e-06,
                0.0006829354679211974
            ],
            "speed_kmh": 0.002459205109422334,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2261767387390137,
                "transform": {
                    "location": {
                        "x": -174.48765563964844,
                        "y": 4336.9931640625,
                        "z": 373.12701416015625
                    },
                    "rotation": {
                        "roll": 0.0016411716351285577,
                        "pitch": 0.14544203877449036,
                        "yaw": -89.77535247802734
                    }
                },
                "velocity": {
                    "x": 0.003617851994931698,
                    "y": -2.2261736392974854,
                    "z": 0.0008787536644376814
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.013267993927002,
                "transform": {
                    "location": {
                        "x": -213.99827575683594,
                        "y": 4302.1953125,
                        "z": 373.2615661621094
                    },
                    "rotation": {
                        "roll": -0.0004272460355423391,
                        "pitch": -0.1838686764240265,
                        "yaw": 0.09692861139774323
                    }
                },
                "velocity": {
                    "x": 2.013251543045044,
                    "y": 0.0018914772663265467,
                    "z": -0.007896766066551208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.317657232284546,
                "transform": {
                    "location": {
                        "x": -174.4855499267578,
                        "y": 4324.15380859375,
                        "z": 373.11578369140625
                    },
                    "rotation": {
                        "roll": 7.377246674877824e-06,
                        "pitch": 0.3113200068473816,
                        "yaw": -90.0062255859375
                    }
                },
                "velocity": {
                    "x": -0.002152400789782405,
                    "y": -2.3176558017730713,
                    "z": -0.0012699508806690574
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003230096772313118,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 9.977779882319737e-06,
                    "y": -1.7799169427235029e-06,
                    "z": 0.00032285062479786575
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006428600172512233,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 1.9612050891737454e-05,
                    "y": -4.37563649029471e-05,
                    "z": 0.0006410692003555596
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00012524786870926619,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 5.033314209867967e-06,
                    "y": -1.2562695701490156e-05,
                    "z": 0.0001245145540451631
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.2706122398376465,
                "transform": {
                    "location": {
                        "x": -174.623046875,
                        "y": 4311.40478515625,
                        "z": 373.10748291015625
                    },
                    "rotation": {
                        "roll": 0.016789687797427177,
                        "pitch": -0.07085637748241425,
                        "yaw": -92.53573608398438
                    }
                },
                "velocity": {
                    "x": -0.21704980731010437,
                    "y": -4.2650885581970215,
                    "z": -0.005953616928309202
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.11607551574707,
                "transform": {
                    "location": {
                        "x": -113.6762466430664,
                        "y": 4294.9375,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": 0.0018782392144203186,
                        "pitch": 0.3151448965072632,
                        "yaw": 179.77769470214844
                    }
                },
                "velocity": {
                    "x": -4.115965366363525,
                    "y": 0.026250474154949188,
                    "z": 0.014693908393383026
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006831125356256962,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.3124681572662666e-05,
                    "y": -8.34377442515688e-06,
                    "z": 0.0006829354679211974
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0005524683510884643,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00029416781035251915,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.001397909945808351,
                        "pitch": 0.22176940739154816,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 5.088932539365487e-06,
                    "y": -7.212244963739067e-05,
                    "z": 0.0002851440804079175
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.572689355583861e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": -1.5137717355173663e-06,
                    "y": 2.5335288228234276e-05,
                    "z": -7.134699990274385e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6371370553970337,
                "transform": {
                    "location": {
                        "x": -98.58695220947266,
                        "y": 4294.9345703125,
                        "z": 372.7903137207031
                    },
                    "rotation": {
                        "roll": 0.00043595267925411463,
                        "pitch": 0.26604950428009033,
                        "yaw": -179.911865234375
                    }
                },
                "velocity": {
                    "x": -1.6371073722839355,
                    "y": -0.007782719563692808,
                    "z": 0.006064233835786581
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.727258652157616e-05,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2899169921875
                    },
                    "rotation": {
                        "roll": 0.0014486227883026004,
                        "pitch": 0.2211068719625473,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 1.1318176802888047e-05,
                    "y": -2.9640445973200258e-06,
                    "z": 2.4635488443891518e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00012851589417550713,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 7.683932381041814e-06,
                    "y": 9.615157523512607e-07,
                    "z": 0.0001282823650399223
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6507074236869812,
                "transform": {
                    "location": {
                        "x": -128.67523193359375,
                        "y": 4295.03173828125,
                        "z": 372.92584228515625
                    },
                    "rotation": {
                        "roll": -0.00225830078125,
                        "pitch": 0.10639385133981705,
                        "yaw": 179.63661193847656
                    }
                },
                "velocity": {
                    "x": -0.6506947875022888,
                    "y": 0.0035309670493006706,
                    "z": 0.001999597530812025
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005188893992453814,
                "transform": {
                    "location": {
                        "x": -140.62554931640625,
                        "y": 4295.1015625,
                        "z": 372.9598388671875
                    },
                    "rotation": {
                        "roll": 0.002612543059512973,
                        "pitch": 0.2177600860595703,
                        "yaw": -179.8308868408203
                    }
                },
                "velocity": {
                    "x": 7.5897200986219104e-06,
                    "y": -9.329002637059602e-07,
                    "z": 0.0005188330542296171
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6690953969955444,
                "transform": {
                    "location": {
                        "x": -225.96788024902344,
                        "y": 4298.9580078125,
                        "z": 373.27880859375
                    },
                    "rotation": {
                        "roll": -0.005645751953125,
                        "pitch": -0.06002369895577431,
                        "yaw": -0.1909789890050888
                    }
                },
                "velocity": {
                    "x": 1.6681774854660034,
                    "y": 0.010421907529234886,
                    "z": -0.0543581061065197
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3483664095401764,
        "expert_target_speed": 10.0,
        "target_point": [
            20.186348304922703,
            0.8988475572028115
        ],
        "target_point_next": [
            31.18119608788935,
            1.2348588843976904
        ]
    },
    "615": {
        "acceleration": [
            0.22421851754188538,
            0.006905933376401663,
            0.007215309888124466
        ],
        "angular_velocity": [
            -0.0029836453031748533,
            -0.03207314386963844,
            -0.009672326035797596
        ],
        "forward_vector": [
            -0.9993271231651306,
            0.036516349762678146,
            0.0034338166005909443
        ],
        "right_vector": [
            -0.036516059190034866,
            -0.9993330240249634,
            0.00014807084517087787
        ],
        "location": [
            -166.1219482421875,
            4292.37890625,
            373.05419921875
        ],
        "rotation": [
            -0.00848388485610485,
            0.19674359261989594,
            177.90728759765625
        ],
        "velocity": [
            -0.0035752689000219107,
            0.0005255502182990313,
            0.0014814377063885331
        ],
        "speed": 0.003613689352921477,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.4012336730957,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.5391631677630357e-05,
                -1.0628399650158826e-05,
                0.0016784749459475279
            ],
            "speed_kmh": 0.006042884989931862,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.6663611531257629,
                "transform": {
                    "location": {
                        "x": -174.48773193359375,
                        "y": 4336.82763671875,
                        "z": 373.126953125
                    },
                    "rotation": {
                        "roll": -0.00442505395039916,
                        "pitch": -0.16608287394046783,
                        "yaw": -89.65957641601562
                    }
                },
                "velocity": {
                    "x": 0.0019347333582118154,
                    "y": -0.6663576364517212,
                    "z": -0.0009760284447111189
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007103924872353673,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": -1.7273201592615806e-05,
                    "y": 4.692240690928884e-05,
                    "z": 0.0007086306577548385
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6540002822875977,
                "transform": {
                    "location": {
                        "x": -213.8788299560547,
                        "y": 4302.19580078125,
                        "z": 373.2620544433594
                    },
                    "rotation": {
                        "roll": 0.0004328589711803943,
                        "pitch": -0.3072150647640228,
                        "yaw": -0.0008850098238326609
                    }
                },
                "velocity": {
                    "x": 0.6539933681488037,
                    "y": -0.0015666743274778128,
                    "z": -0.002573203993961215
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2786645889282227,
                "transform": {
                    "location": {
                        "x": -174.4855499267578,
                        "y": 4323.466796875,
                        "z": 373.1151123046875
                    },
                    "rotation": {
                        "roll": 0.00040788474143482745,
                        "pitch": 0.3526221513748169,
                        "yaw": -90.02334594726562
                    }
                },
                "velocity": {
                    "x": -0.0031551860738545656,
                    "y": -3.27866268157959,
                    "z": -0.0017401408404111862
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010636564111337066,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 1.5014260497991927e-05,
                    "y": 1.813191920518875e-05,
                    "z": 0.0010633958736434579
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008896333165466785,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 2.1143630419828696e-06,
                    "y": -6.459165888372809e-05,
                    "z": 0.0008872828329913318
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00021535698033403605,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 7.037073373794556e-06,
                    "y": 2.336988654860761e-05,
                    "z": 0.00021396951342467219
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.383724689483643,
                "transform": {
                    "location": {
                        "x": -174.6796112060547,
                        "y": 4310.33349609375,
                        "z": 373.1060485839844
                    },
                    "rotation": {
                        "roll": 0.011283514089882374,
                        "pitch": -0.06396471709012985,
                        "yaw": -92.8245849609375
                    }
                },
                "velocity": {
                    "x": -0.23350729048252106,
                    "y": -4.377496719360352,
                    "z": -0.0061119175516068935
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.2481303215026855,
                "transform": {
                    "location": {
                        "x": -114.86241912841797,
                        "y": 4294.94482421875,
                        "z": 372.8547668457031
                    },
                    "rotation": {
                        "roll": 0.0002558723499532789,
                        "pitch": 0.32136720418930054,
                        "yaw": 179.72825622558594
                    }
                },
                "velocity": {
                    "x": -5.248003005981445,
                    "y": 0.030211815610527992,
                    "z": 0.02054281160235405
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001678579137660563,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.5391631677630357e-05,
                    "y": -1.0628399650158826e-05,
                    "z": 0.0016784749459475279
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00018445710884407163,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0005524683510884643,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 7.906221071607433e-06,
                    "y": -3.030482048416161e-06,
                    "z": -0.0001842626661527902
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6621790564386174e-05,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00040969293331727386,
                        "pitch": 0.2221314013004303,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 3.7897004858677974e-06,
                    "y": 1.1319705663481727e-05,
                    "z": 1.156660437118262e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00023735238937661052,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": -1.580156322233961e-06,
                    "y": -1.918113775900565e-05,
                    "z": 0.00023657080600969493
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.6510963439941406,
                "transform": {
                    "location": {
                        "x": -99.15413665771484,
                        "y": 4294.9326171875,
                        "z": 372.79229736328125
                    },
                    "rotation": {
                        "roll": 0.0013025818625465035,
                        "pitch": 0.2954193353652954,
                        "yaw": -179.7363739013672
                    }
                },
                "velocity": {
                    "x": -2.651031494140625,
                    "y": -0.015570241957902908,
                    "z": 0.010050334967672825
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.978153684642166e-06,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2899169921875
                    },
                    "rotation": {
                        "roll": 0.0014486227883026004,
                        "pitch": 0.2211068719625473,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 6.072483756724978e-06,
                    "y": -7.630972504557576e-06,
                    "z": -2.11110068448761e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001403214642778039,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.0226778613287024e-05,
                    "y": -2.6001620426541194e-05,
                    "z": 0.0014029365265741944
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4817014932632446,
                "transform": {
                    "location": {
                        "x": -128.93585205078125,
                        "y": 4295.0322265625,
                        "z": 372.9234619140625
                    },
                    "rotation": {
                        "roll": 4.598853411152959e-05,
                        "pitch": 0.5209726691246033,
                        "yaw": 179.6103057861328
                    }
                },
                "velocity": {
                    "x": -1.4816633462905884,
                    "y": 0.008708760142326355,
                    "z": 0.006089887581765652
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009883894817903638,
                "transform": {
                    "location": {
                        "x": -140.62554931640625,
                        "y": 4295.1015625,
                        "z": 372.9598693847656
                    },
                    "rotation": {
                        "roll": 0.0026397507172077894,
                        "pitch": 0.2176986038684845,
                        "yaw": -179.8308868408203
                    }
                },
                "velocity": {
                    "x": 1.0484047379577532e-05,
                    "y": 7.854332011447696e-07,
                    "z": 0.0009883336024358869
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.322356939315796,
                "transform": {
                    "location": {
                        "x": -225.3386688232422,
                        "y": 4298.9609375,
                        "z": 373.2702941894531
                    },
                    "rotation": {
                        "roll": -0.01156616024672985,
                        "pitch": 0.10176298022270203,
                        "yaw": -0.0160217247903347
                    }
                },
                "velocity": {
                    "x": 3.322261333465576,
                    "y": 0.022899508476257324,
                    "z": -0.010581273585557938
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3488568067550659,
        "expert_target_speed": 10.0,
        "target_point": [
            20.183766825975493,
            0.8987659670571803
        ],
        "target_point_next": [
            31.178606273982535,
            1.235049917251267
        ]
    },
    "620": {
        "acceleration": [
            -0.17120841145515442,
            -0.011180346831679344,
            0.003404044546186924
        ],
        "angular_velocity": [
            -0.00529072992503643,
            0.031703315675258636,
            0.0376005545258522
        ],
        "forward_vector": [
            -0.9993282556533813,
            0.03648155555129051,
            0.0034800695721060038
        ],
        "right_vector": [
            -0.03648131340742111,
            -0.9993343353271484,
            0.00013368985673878342
        ],
        "location": [
            -166.1246795654297,
            4292.37939453125,
            373.05426025390625
        ],
        "rotation": [
            -0.007659911643713713,
            0.19939370453357697,
            177.90928649902344
        ],
        "velocity": [
            -0.016520245000720024,
            -4.039097620989196e-05,
            0.0013758945278823376
        ],
        "speed": 0.01652029437736429,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.398502349853516,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.176241767097963e-05,
                -9.889718967315275e-06,
                0.0008477196679450572
            ],
            "speed_kmh": 0.0030522922143453924,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.987207055091858,
                "transform": {
                    "location": {
                        "x": -174.48773193359375,
                        "y": 4336.48388671875,
                        "z": 373.1269836425781
                    },
                    "rotation": {
                        "roll": 0.0019273225916549563,
                        "pitch": 0.1730155050754547,
                        "yaw": -89.74819946289062
                    }
                },
                "velocity": {
                    "x": 0.003816696349531412,
                    "y": -1.987202525138855,
                    "z": -0.0018210506532341242
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006181571516208351,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 2.559274321356497e-07,
                    "y": -2.267504714836832e-05,
                    "z": 0.0006177410832606256
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4176371097564697,
                "transform": {
                    "location": {
                        "x": -213.61984252929688,
                        "y": 4302.1962890625,
                        "z": 373.25994873046875
                    },
                    "rotation": {
                        "roll": 0.000328004767652601,
                        "pitch": -0.1687602996826172,
                        "yaw": -0.063812255859375
                    }
                },
                "velocity": {
                    "x": 1.4176241159439087,
                    "y": -0.0027030929923057556,
                    "z": -0.005446491297334433
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.641561508178711,
                "transform": {
                    "location": {
                        "x": -174.48585510253906,
                        "y": 4322.4638671875,
                        "z": 373.11376953125
                    },
                    "rotation": {
                        "roll": 0.0010183227714151144,
                        "pitch": 0.49291422963142395,
                        "yaw": -90.03721618652344
                    }
                },
                "velocity": {
                    "x": -0.0045560975559055805,
                    "y": -4.641558647155762,
                    "z": -0.002062559127807617
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010135610355064273,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 1.3258308172225952e-05,
                    "y": -1.587697261129506e-05,
                    "z": 0.0010133498581126332
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011780521599575877,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 1.3618618140753824e-05,
                    "y": 7.09650566932396e-06,
                    "z": 0.0011779520427808166
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00013937636686023325,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 5.8775021898327395e-06,
                    "y": -2.6818241167347878e-05,
                    "z": 0.00013664555444847792
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.0456953048706055,
                "transform": {
                    "location": {
                        "x": -174.7355499267578,
                        "y": 4309.30126953125,
                        "z": 373.10467529296875
                    },
                    "rotation": {
                        "roll": 0.007633552420884371,
                        "pitch": -0.11455592513084412,
                        "yaw": -92.99639892578125
                    }
                },
                "velocity": {
                    "x": -0.22169627249240875,
                    "y": -4.039612293243408,
                    "z": -0.005652961786836386
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.100341320037842,
                "transform": {
                    "location": {
                        "x": -116.35929107666016,
                        "y": 4294.953125,
                        "z": 372.8604736328125
                    },
                    "rotation": {
                        "roll": 0.0011132342042401433,
                        "pitch": 0.3567817509174347,
                        "yaw": 179.7235565185547
                    }
                },
                "velocity": {
                    "x": -7.100157737731934,
                    "y": 0.04224958270788193,
                    "z": 0.02867109142243862
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008478589588776231,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.176241767097963e-05,
                    "y": -9.889718967315275e-06,
                    "z": 0.0008477196679450572
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006487412611022592,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0005524683510884643,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 3.1176953143585706e-06,
                    "y": -7.731634468655102e-06,
                    "z": -0.0006486877100542188
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005534676602110267,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00040969293331727386,
                        "pitch": 0.2221314013004303,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": -1.7155333580376464e-06,
                    "y": -3.0774444894632325e-05,
                    "z": 0.0005526087479665875
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.3777040294371545e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 6.9853290369792376e-06,
                    "y": -9.969356540295848e-08,
                    "z": -1.187442921946058e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.176510810852051,
                "transform": {
                    "location": {
                        "x": -99.998046875,
                        "y": 4294.9287109375,
                        "z": 372.79541015625
                    },
                    "rotation": {
                        "roll": 0.0031582096125930548,
                        "pitch": 0.323532372713089,
                        "yaw": -179.63279724121094
                    }
                },
                "velocity": {
                    "x": -4.17640495300293,
                    "y": -0.024210231378674507,
                    "z": 0.017235346138477325
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.547625086270273e-05,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2899169921875
                    },
                    "rotation": {
                        "roll": 0.0014486227883026004,
                        "pitch": 0.2211068719625473,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 8.962154424807522e-06,
                    "y": -6.608285275433445e-06,
                    "z": 9.482470341026783e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011748216347768903,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 9.356997907161713e-06,
                    "y": 1.9023851564270444e-05,
                    "z": 0.0011746303644031286
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.5903444290161133,
                "transform": {
                    "location": {
                        "x": -129.45225524902344,
                        "y": 4295.03564453125,
                        "z": 372.9254150390625
                    },
                    "rotation": {
                        "roll": -0.0015563966007903218,
                        "pitch": 0.5255966782569885,
                        "yaw": 179.62771606445312
                    }
                },
                "velocity": {
                    "x": -2.590284585952759,
                    "y": 0.014469492249190807,
                    "z": 0.01001519151031971
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007596925715915859,
                "transform": {
                    "location": {
                        "x": -140.62554931640625,
                        "y": 4295.1015625,
                        "z": 372.9598693847656
                    },
                    "rotation": {
                        "roll": 0.0030248600523918867,
                        "pitch": 0.2176644504070282,
                        "yaw": -179.8308868408203
                    }
                },
                "velocity": {
                    "x": 1.0846629265870433e-05,
                    "y": -1.0570196309345192e-06,
                    "z": 0.0007596143987029791
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.410937786102295,
                "transform": {
                    "location": {
                        "x": -224.22726440429688,
                        "y": 4298.96728515625,
                        "z": 373.2668151855469
                    },
                    "rotation": {
                        "roll": -0.012939454056322575,
                        "pitch": 0.2743891775608063,
                        "yaw": 0.18705442547798157
                    }
                },
                "velocity": {
                    "x": 5.410767555236816,
                    "y": 0.04156030714511871,
                    "z": -0.010571470484137535
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3478958010673523,
        "expert_target_speed": 10.0,
        "target_point": [
            20.18105078072998,
            0.8984517012839042
        ],
        "target_point_next": [
            31.175901927821805,
            1.2343529306705328
        ]
    },
    "625": {
        "acceleration": [
            0.18823501467704773,
            0.01146864052861929,
            0.0016647321172058582
        ],
        "angular_velocity": [
            0.022572090849280357,
            -0.02542250230908394,
            -0.020170755684375763
        ],
        "forward_vector": [
            -0.9993292093276978,
            0.036457255482673645,
            0.003475062781944871
        ],
        "right_vector": [
            -0.03645709529519081,
            -0.9993352293968201,
            0.00010972157906508073
        ],
        "location": [
            -166.12757873535156,
            4292.37939453125,
            373.05426025390625
        ],
        "rotation": [
            -0.006286621559411287,
            0.199106827378273,
            177.91067504882812
        ],
        "velocity": [
            -0.006799784023314714,
            0.00053011579439044,
            0.0013675021473318338
        ],
        "speed": 0.0068204168141828584,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.39560317993164,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.573048035032116e-06,
                -1.5045629879750777e-06,
                0.00022573214664589614
            ],
            "speed_kmh": 0.0008132396246354521,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.359828472137451,
                "transform": {
                    "location": {
                        "x": -174.48687744140625,
                        "y": 4335.87841796875,
                        "z": 373.12689208984375
                    },
                    "rotation": {
                        "roll": 0.0016336116241291165,
                        "pitch": 0.09990517050027847,
                        "yaw": -89.8861083984375
                    }
                },
                "velocity": {
                    "x": 0.0036997119896113873,
                    "y": -2.3598246574401855,
                    "z": -0.0018969153752550483
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011380217038094997,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 1.1628269930952229e-05,
                    "y": 4.183952114544809e-05,
                    "z": 0.0011371929431334138
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.2639758586883545,
                "transform": {
                    "location": {
                        "x": -213.16015625,
                        "y": 4302.1953125,
                        "z": 373.25787353515625
                    },
                    "rotation": {
                        "roll": 0.0008419231162406504,
                        "pitch": -0.13302475214004517,
                        "yaw": -0.0921325609087944
                    }
                },
                "velocity": {
                    "x": 2.263951539993286,
                    "y": -0.005362470168620348,
                    "z": -0.00902135856449604
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.326260089874268,
                "transform": {
                    "location": {
                        "x": -174.48757934570312,
                        "y": 4321.17431640625,
                        "z": 373.1135559082031
                    },
                    "rotation": {
                        "roll": -0.0004882893990725279,
                        "pitch": 0.3837268352508545,
                        "yaw": -90.02674102783203
                    }
                },
                "velocity": {
                    "x": -0.006164053454995155,
                    "y": -5.326254844665527,
                    "z": -0.004339370410889387
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.7236975660780445e-05,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 7.613450179633219e-06,
                    "y": -1.6968435545550165e-07,
                    "z": 4.6619079512311146e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016057719476521015,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 5.12793667439837e-06,
                    "y": 2.2830770831205882e-05,
                    "z": 0.0016056015156209469
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.837965651764534e-06,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 6.106478394940495e-05,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.3577270209789276
                    }
                },
                "velocity": {
                    "x": 5.7493521126161795e-06,
                    "y": -4.5632810952156433e-07,
                    "z": 6.6967422753805295e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.342349052429199,
                "transform": {
                    "location": {
                        "x": -174.822021484375,
                        "y": 4308.2626953125,
                        "z": 373.103271484375
                    },
                    "rotation": {
                        "roll": 0.12295190989971161,
                        "pitch": -0.05886939540505409,
                        "yaw": -94.31248474121094
                    }
                },
                "velocity": {
                    "x": -0.523309051990509,
                    "y": -4.310696125030518,
                    "z": -0.006213159300386906
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.591095447540283,
                "transform": {
                    "location": {
                        "x": -118.11304473876953,
                        "y": 4294.962890625,
                        "z": 372.8682861328125
                    },
                    "rotation": {
                        "roll": -0.00021362306142691523,
                        "pitch": 0.23605132102966309,
                        "yaw": 179.67669677734375
                    }
                },
                "velocity": {
                    "x": -6.590922832489014,
                    "y": 0.03925425186753273,
                    "z": 0.02705611102283001
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00022589990112464875,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.573048035032116e-06,
                    "y": -1.5045629879750777e-06,
                    "z": 0.00022573214664589614
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013694573426619172,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0005524683510884643,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 3.686845275296946e-06,
                    "y": 1.2782653357135132e-05,
                    "z": -0.0013693927321583033
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00020255360868759453,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00040969293331727386,
                        "pitch": 0.2221314013004303,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": -7.74547424953198e-06,
                    "y": 7.3923338277381845e-06,
                    "z": -0.00020227042841725051
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00029278366127982736,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.1502951565489639e-05,
                    "y": 4.0584858652437106e-05,
                    "z": 0.00028972889413125813
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.508185386657715,
                "transform": {
                    "location": {
                        "x": -101.2046890258789,
                        "y": 4294.921875,
                        "z": 372.80029296875
                    },
                    "rotation": {
                        "roll": 0.0062868609093129635,
                        "pitch": 0.325308233499527,
                        "yaw": -179.62680053710938
                    }
                },
                "velocity": {
                    "x": -5.508131980895996,
                    "y": -0.007545189466327429,
                    "z": 0.02307245135307312
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.101463026832789e-05,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2899169921875
                    },
                    "rotation": {
                        "roll": 0.0014486227883026004,
                        "pitch": 0.2211068719625473,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 6.95962444297038e-06,
                    "y": -8.828656063997187e-06,
                    "z": 8.023084956221282e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010375772835686803,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.493435320298886e-05,
                    "y": 1.941201844601892e-05,
                    "z": 0.001037288224324584
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.549125075340271,
                "transform": {
                    "location": {
                        "x": -129.7227325439453,
                        "y": 4295.03564453125,
                        "z": 372.93255615234375
                    },
                    "rotation": {
                        "roll": 0.0052553764544427395,
                        "pitch": -0.22259585559368134,
                        "yaw": 179.4755859375
                    }
                },
                "velocity": {
                    "x": -0.5491124987602234,
                    "y": 0.00286055076867342,
                    "z": 0.0023576831445097923
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.962375821080059e-05,
                "transform": {
                    "location": {
                        "x": -140.62554931640625,
                        "y": 4295.1015625,
                        "z": 372.9598388671875
                    },
                    "rotation": {
                        "roll": 0.0026871701702475548,
                        "pitch": 0.21794448792934418,
                        "yaw": -179.8308868408203
                    }
                },
                "velocity": {
                    "x": 8.868202712619677e-06,
                    "y": 1.2887620869150851e-05,
                    "z": 7.807180372765288e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.2689971923828125,
                "transform": {
                    "location": {
                        "x": -222.8650665283203,
                        "y": 4298.97265625,
                        "z": 373.2654724121094
                    },
                    "rotation": {
                        "roll": 0.014894379302859306,
                        "pitch": -0.06673777103424072,
                        "yaw": 0.21377478539943695
                    }
                },
                "velocity": {
                    "x": 5.268939018249512,
                    "y": 0.013478890061378479,
                    "z": -0.020801709964871407
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.35091501474380493,
        "expert_target_speed": 10.0,
        "target_point": [
            20.17817495319107,
            0.8978648506458009
        ],
        "target_point_next": [
            31.173034105667355,
            1.2335039422581933
        ]
    },
    "630": {
        "acceleration": [
            -0.1635000854730606,
            -0.014142526313662529,
            -0.004794311244040728
        ],
        "angular_velocity": [
            0.0002826957788784057,
            0.02608797326683998,
            0.038516923785209656
        ],
        "forward_vector": [
            -0.999327540397644,
            0.03650014102458954,
            0.003486983710899949
        ],
        "right_vector": [
            -0.03649996593594551,
            -0.9993336200714111,
            0.00011398257629480213
        ],
        "location": [
            -166.1305389404297,
            4292.37939453125,
            373.05426025390625
        ],
        "rotation": [
            -0.006530760321766138,
            0.1997898519039154,
            177.90821838378906
        ],
        "velocity": [
            -0.016785433515906334,
            3.926355202565901e-05,
            0.001407995237968862
        ],
        "speed": 0.016785479437401524,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.392642974853516,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1263936357863713e-05,
                4.287999217922334e-06,
                0.0010800908785313368
            ],
            "speed_kmh": 0.0038885692401391873,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.9883437156677246,
                "transform": {
                    "location": {
                        "x": -174.48687744140625,
                        "y": 4335.2421875,
                        "z": 373.1268005371094
                    },
                    "rotation": {
                        "roll": 0.0024246007669717073,
                        "pitch": 0.10086822509765625,
                        "yaw": -89.97637176513672
                    }
                },
                "velocity": {
                    "x": 0.0009892527014017105,
                    "y": -2.9883434772491455,
                    "z": -0.0008774948073551059
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00019197548681404442,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 6.036199465597747e-06,
                    "y": -0.00011509545583976433,
                    "z": 0.00015352910850197077
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014856084017083049,
                "transform": {
                    "location": {
                        "x": -212.79342651367188,
                        "y": 4302.19287109375,
                        "z": 373.25872802734375
                    },
                    "rotation": {
                        "roll": -0.00213623046875,
                        "pitch": -0.39343252778053284,
                        "yaw": 0.02743338979780674
                    }
                },
                "velocity": {
                    "x": 0.001001675147563219,
                    "y": 0.00012910738587379456,
                    "z": -0.0010895001469179988
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4447801113128662,
                "transform": {
                    "location": {
                        "x": -174.4914093017578,
                        "y": 4320.16259765625,
                        "z": 373.1166687011719
                    },
                    "rotation": {
                        "roll": -6.102415864006616e-05,
                        "pitch": -0.8053339123725891,
                        "yaw": -89.75830078125
                    }
                },
                "velocity": {
                    "x": -0.015155988745391369,
                    "y": -1.4446983337402344,
                    "z": -0.002646656008437276
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011255170684307814,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 7.262453323164664e-07,
                    "y": 1.507481556473067e-05,
                    "z": 0.001125415787100792
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016923201037570834,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 1.0502487384655979e-05,
                    "y": 4.17611918237526e-05,
                    "z": 0.001691772136837244
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.405471791978925e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417236328125
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 7.106363682396477e-06,
                    "y": -8.22821857582312e-06,
                    "z": 9.34242270886898e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.330352783203125,
                "transform": {
                    "location": {
                        "x": -174.98873901367188,
                        "y": 4307.0419921875,
                        "z": 373.10205078125
                    },
                    "rotation": {
                        "roll": 0.09322883933782578,
                        "pitch": 0.05082343518733978,
                        "yaw": -96.71997833251953
                    }
                },
                "velocity": {
                    "x": -0.7545624375343323,
                    "y": -5.276670932769775,
                    "z": -0.006402559112757444
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5239723920822144,
                "transform": {
                    "location": {
                        "x": -119.23101043701172,
                        "y": 4294.9697265625,
                        "z": 372.8746643066406
                    },
                    "rotation": {
                        "roll": 0.001011619926430285,
                        "pitch": -0.03354305773973465,
                        "yaw": 179.68643188476562
                    }
                },
                "velocity": {
                    "x": -1.5239291191101074,
                    "y": 0.01002658624202013,
                    "z": 0.005583782214671373
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010801581665873528,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1263936357863713e-05,
                    "y": 4.287999217922334e-06,
                    "z": 0.0010800908785313368
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.5549972380977124e-05,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0005524683510884643,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 8.460655408271123e-06,
                    "y": -1.2584041542140767e-05,
                    "z": -3.215368997189216e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4302308045444079e-05,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00040969293331727386,
                        "pitch": 0.2221314013004303,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 7.627569175383542e-06,
                    "y": -2.3989980491023744e-07,
                    "z": 1.209622496389784e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005882160039618611,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.1806338989117648e-05,
                    "y": -1.2253757631697226e-05,
                    "z": -0.0005879698437638581
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.196315288543701,
                "transform": {
                    "location": {
                        "x": -102.69312286376953,
                        "y": 4294.92041015625,
                        "z": 372.8060607910156
                    },
                    "rotation": {
                        "roll": 0.004567403811961412,
                        "pitch": 0.3573554754257202,
                        "yaw": -179.79222106933594
                    }
                },
                "velocity": {
                    "x": -7.196260452270508,
                    "y": -0.0014486700529232621,
                    "z": 0.02810620330274105
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00010310553625458851,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2898864746094
                    },
                    "rotation": {
                        "roll": 0.00118741684127599,
                        "pitch": 0.2214825302362442,
                        "yaw": 179.6614990234375
                    }
                },
                "velocity": {
                    "x": 1.2018456800433341e-05,
                    "y": 2.6057455215777736e-06,
                    "z": 0.00010236952221021056
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006967014633119106,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 7.223523880384164e-06,
                    "y": 2.3257056454895064e-05,
                    "z": 0.0006962757324799895
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0017786696553230286,
                "transform": {
                    "location": {
                        "x": -129.91586303710938,
                        "y": 4295.03662109375,
                        "z": 372.93084716796875
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": 0.07972196489572525,
                        "yaw": 179.46299743652344
                    }
                },
                "velocity": {
                    "x": -0.0017751046689227223,
                    "y": -0.00010573715553618968,
                    "z": 3.858194759231992e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009338012314401567,
                "transform": {
                    "location": {
                        "x": -140.62554931640625,
                        "y": 4295.1015625,
                        "z": 372.9598388671875
                    },
                    "rotation": {
                        "roll": 0.0030906922183930874,
                        "pitch": 0.21785570681095123,
                        "yaw": -179.83087158203125
                    }
                },
                "velocity": {
                    "x": 9.271502676710952e-06,
                    "y": 2.2636519133811817e-05,
                    "z": 0.0009334807400591671
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.003721119835972786,
                "transform": {
                    "location": {
                        "x": -222.3789825439453,
                        "y": 4298.97412109375,
                        "z": 373.27337646484375
                    },
                    "rotation": {
                        "roll": -0.0017700194148346782,
                        "pitch": -1.366358757019043,
                        "yaw": 0.18667976558208466
                    }
                },
                "velocity": {
                    "x": 0.002162183402106166,
                    "y": -0.0005106403841637075,
                    "z": -0.002985120052471757
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3479778468608856,
        "expert_target_speed": 0,
        "target_point": [
            20.175178598418118,
            0.8986131340845757
        ],
        "target_point_next": [
            31.17002349697142,
            1.2347188308025674
        ]
    },
    "635": {
        "acceleration": [
            0.18406300246715546,
            0.014366533607244492,
            0.013037491589784622
        ],
        "angular_velocity": [
            0.0016990328440442681,
            -0.03007815033197403,
            -0.012308790348470211
        ],
        "forward_vector": [
            -0.9993294477462769,
            0.0364505834877491,
            0.0034762548748403788
        ],
        "right_vector": [
            -0.036450307816267014,
            -0.9993354678153992,
            0.00014274450950324535
        ],
        "location": [
            -166.1336669921875,
            4292.37939453125,
            373.05426025390625
        ],
        "rotation": [
            -0.008178707212209702,
            0.1991751343011856,
            177.9110565185547
        ],
        "velocity": [
            -0.010705909691751003,
            0.0008905581198632717,
            0.0017608451889827847
        ],
        "speed": 0.010742885836346883,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.3895149230957,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                7.896311217336915e-06,
                1.3548952665587422e-05,
                0.0001859718468040228
            ],
            "speed_kmh": 0.000671874719974826,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.445010662078857,
                "transform": {
                    "location": {
                        "x": -174.48687744140625,
                        "y": 4334.3046875,
                        "z": 373.126708984375
                    },
                    "rotation": {
                        "roll": 0.0008872788748703897,
                        "pitch": 0.24426120519638062,
                        "yaw": -89.97667694091797
                    }
                },
                "velocity": {
                    "x": 0.0016764880856499076,
                    "y": -4.445010662078857,
                    "z": -0.0009411430219188333
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008990186615847051,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 4.089139110874385e-06,
                    "y": -5.294754828355508e-06,
                    "z": 0.0008989937487058342
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2725919485092163,
                "transform": {
                    "location": {
                        "x": -212.60179138183594,
                        "y": 4302.193359375,
                        "z": 373.2561950683594
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.19604690372943878,
                        "yaw": 0.013182736933231354
                    }
                },
                "velocity": {
                    "x": 1.2725849151611328,
                    "y": -0.003140366869047284,
                    "z": -0.002823734190315008
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9111486673355103,
                "transform": {
                    "location": {
                        "x": -174.4918670654297,
                        "y": 4320.04345703125,
                        "z": 373.1164245605469
                    },
                    "rotation": {
                        "roll": -0.01641838811337948,
                        "pitch": -0.7800894975662231,
                        "yaw": -89.763916015625
                    }
                },
                "velocity": {
                    "x": 0.0011594155803322792,
                    "y": -0.911146342754364,
                    "z": -0.0016898249741643667
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00017479227972216904,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 9.446963304071687e-06,
                    "y": -4.29655920015648e-05,
                    "z": -0.00016916575259529054
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00046545034274458885,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 1.074060764949536e-05,
                    "y": 2.6617091862135567e-05,
                    "z": 0.00046456450945697725
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.089183883275837e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.465464593929937e-06,
                    "y": -8.403416700275557e-07,
                    "z": 3.0195980798453093e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.393000602722168,
                "transform": {
                    "location": {
                        "x": -175.19444274902344,
                        "y": 4305.71630859375,
                        "z": 373.10003662109375
                    },
                    "rotation": {
                        "roll": 0.10592885315418243,
                        "pitch": -0.0368010587990284,
                        "yaw": -98.41268920898438
                    }
                },
                "velocity": {
                    "x": -0.9494901299476624,
                    "y": -5.308755397796631,
                    "z": -0.0064775943756103516
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2297543287277222,
                "transform": {
                    "location": {
                        "x": -119.37999725341797,
                        "y": 4294.970703125,
                        "z": 372.8739013671875
                    },
                    "rotation": {
                        "roll": 0.0016490744892507792,
                        "pitch": 0.14064042270183563,
                        "yaw": 179.6259307861328
                    }
                },
                "velocity": {
                    "x": -1.2292689085006714,
                    "y": 0.03291548788547516,
                    "z": 0.010508422739803791
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001866318634711206,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 7.896311217336915e-06,
                    "y": 1.3548952665587422e-05,
                    "z": 0.0001859718468040228
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005006181308999658,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0006151731358841062,
                        "pitch": 0.22164645791053772,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 8.992403309093788e-06,
                    "y": -1.2308201803534757e-05,
                    "z": -0.0005003860569559038
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00025727954925969243,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.00044508263817988336,
                        "pitch": 0.22171476483345032,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 1.1788009942392819e-05,
                    "y": 5.23109633832064e-07,
                    "z": 0.0002570088254287839
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00030379873351193964,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 3.626681746027316e-06,
                    "y": 3.832148649962619e-05,
                    "z": -0.0003013502573594451
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.975794315338135,
                "transform": {
                    "location": {
                        "x": -104.65203094482422,
                        "y": 4294.91943359375,
                        "z": 372.8141784667969
                    },
                    "rotation": {
                        "roll": 0.001956405583769083,
                        "pitch": 0.31075310707092285,
                        "yaw": -179.9574432373047
                    }
                },
                "velocity": {
                    "x": -7.9757280349731445,
                    "y": 0.0007682116120122373,
                    "z": 0.032535962760448456
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.973964188247919e-05,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2898864746094
                    },
                    "rotation": {
                        "roll": 0.00118741684127599,
                        "pitch": 0.2214825302362442,
                        "yaw": 179.6614990234375
                    }
                },
                "velocity": {
                    "x": 5.886480266781291e-06,
                    "y": 7.479605301341508e-06,
                    "z": 9.928444342222065e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00039329545688815415,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.5558824088657275e-05,
                    "y": 1.2596719898283482e-05,
                    "z": 0.00039278564509004354
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7233813405036926,
                "transform": {
                    "location": {
                        "x": -129.9872589111328,
                        "y": 4295.03759765625,
                        "z": 372.9298095703125
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": 0.2628598213195801,
                        "yaw": 179.47605895996094
                    }
                },
                "velocity": {
                    "x": -0.7233557105064392,
                    "y": 0.005584517493844032,
                    "z": 0.0024269293062388897
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008824964170344174,
                "transform": {
                    "location": {
                        "x": -140.62554931640625,
                        "y": 4295.1015625,
                        "z": 372.9598388671875
                    },
                    "rotation": {
                        "roll": 0.0027151969261467457,
                        "pitch": 0.21781471371650696,
                        "yaw": -179.83082580566406
                    }
                },
                "velocity": {
                    "x": 1.2431516552169342e-05,
                    "y": -3.6419403386389604e-06,
                    "z": 0.0008824013639241457
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.47362616658210754,
                "transform": {
                    "location": {
                        "x": -222.3145294189453,
                        "y": 4298.97412109375,
                        "z": 373.2657470703125
                    },
                    "rotation": {
                        "roll": -0.00335693359375,
                        "pitch": -0.4733594059944153,
                        "yaw": 0.19265209138393402
                    }
                },
                "velocity": {
                    "x": 0.4736204147338867,
                    "y": 0.0014585626777261496,
                    "z": -0.001823329832404852
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.34847113490104675,
        "expert_target_speed": 0,
        "target_point": [
            20.172097163739444,
            0.8974986056474981
        ],
        "target_point_next": [
            31.166958716612342,
            1.233059055890409
        ]
    },
    "640": {
        "acceleration": [
            -0.16144776344299316,
            -0.016516057774424553,
            -0.0018953322432935238
        ],
        "angular_velocity": [
            -0.017074178904294968,
            0.03745206445455551,
            0.027577415108680725
        ],
        "forward_vector": [
            -0.9993302226066589,
            0.036426760256290436,
            0.0034952089190483093
        ],
        "right_vector": [
            -0.03642651438713074,
            -0.999336302280426,
            0.0001331572129856795
        ],
        "location": [
            -166.13851928710938,
            4292.37939453125,
            373.0542907714844
        ],
        "rotation": [
            -0.007629392668604851,
            0.20026113092899323,
            177.9124298095703
        ],
        "velocity": [
            -0.0219788309186697,
            2.2709651602781378e-05,
            0.001096105552278459
        ],
        "speed": 0.021978842651053015,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.38466262817383,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.3603083061752841e-05,
                6.730218956363387e-06,
                0.0012298201909288764
            ],
            "speed_kmh": 0.004427689806304289,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.506185531616211,
                "transform": {
                    "location": {
                        "x": -174.48687744140625,
                        "y": 4333.0322265625,
                        "z": 373.1266784667969
                    },
                    "rotation": {
                        "roll": 0.00011267219088040292,
                        "pitch": 0.20932479202747345,
                        "yaw": -89.96000671386719
                    }
                },
                "velocity": {
                    "x": 0.00100892991758883,
                    "y": -5.506185054779053,
                    "z": -0.0022926616948097944
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008630185620859265,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": -2.0606554244295694e-05,
                    "y": -2.770499668258708e-05,
                    "z": 0.0008623275789432228
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010910355485975742,
                "transform": {
                    "location": {
                        "x": -212.36756896972656,
                        "y": 4302.19189453125,
                        "z": 373.2565612792969
                    },
                    "rotation": {
                        "roll": -0.005096435546875,
                        "pitch": -0.32614150643348694,
                        "yaw": 0.15259405970573425
                    }
                },
                "velocity": {
                    "x": 0.000558922125492245,
                    "y": -0.0002762967487797141,
                    "z": -0.0008953349897637963
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.15940523147583,
                "transform": {
                    "location": {
                        "x": -174.4918670654297,
                        "y": 4319.77734375,
                        "z": 373.114013671875
                    },
                    "rotation": {
                        "roll": -0.005798323545604944,
                        "pitch": -0.1938202679157257,
                        "yaw": -89.78655242919922
                    }
                },
                "velocity": {
                    "x": 0.0005072287167422473,
                    "y": -1.1594023704528809,
                    "z": -0.002533511957153678
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010083595989271998,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 3.5943462535215076e-06,
                    "y": 3.321258554933593e-05,
                    "z": 0.0010078061604872346
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012365857837721705,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": -1.3789273907605093e-05,
                    "y": -2.88474366243463e-05,
                    "z": 0.001236172392964363
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00013524132373277098,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 7.960051334521268e-06,
                    "y": 7.041374828986591e-06,
                    "z": 0.00013482311624102294
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.596510410308838,
                "transform": {
                    "location": {
                        "x": -175.5906982421875,
                        "y": 4304.064453125,
                        "z": 373.09796142578125
                    },
                    "rotation": {
                        "roll": 0.31355172395706177,
                        "pitch": 0.16815242171287537,
                        "yaw": -103.4411849975586
                    }
                },
                "velocity": {
                    "x": -2.046746253967285,
                    "y": -7.315578460693359,
                    "z": -0.01060315128415823
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.199049949645996,
                "transform": {
                    "location": {
                        "x": -119.6828842163086,
                        "y": 4294.9765625,
                        "z": 372.8746643066406
                    },
                    "rotation": {
                        "roll": 0.001610892009921372,
                        "pitch": 0.21545147895812988,
                        "yaw": 179.83917236328125
                    }
                },
                "velocity": {
                    "x": -1.198927640914917,
                    "y": 0.016220655292272568,
                    "z": 0.0054778289049863815
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001229913905262947,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.3603083061752841e-05,
                    "y": 6.730218956363387e-06,
                    "z": 0.0012298201909288764
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004929750575684011,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0006151731358841062,
                        "pitch": 0.22164645791053772,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 6.608106104977196e-06,
                    "y": 1.4573579392163083e-06,
                    "z": -0.0004929286078549922
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.646949911257252e-05,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.00044508263817988336,
                        "pitch": 0.22171476483345032,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 1.0256804671371356e-05,
                    "y": 1.0441676749906037e-05,
                    "z": 9.535268327454105e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.075706576462835e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.6921572751016356e-05,
                    "y": -6.979673344176263e-06,
                    "z": 4.734157118946314e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.735680103302002,
                "transform": {
                    "location": {
                        "x": -106.50733947753906,
                        "y": 4294.919921875,
                        "z": 372.82257080078125
                    },
                    "rotation": {
                        "roll": 0.0034785305615514517,
                        "pitch": 0.18231822550296783,
                        "yaw": 179.95298767089844
                    }
                },
                "velocity": {
                    "x": -6.735602378845215,
                    "y": 0.017143527045845985,
                    "z": 0.02739078551530838
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00021320214727893472,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2898864746094
                    },
                    "rotation": {
                        "roll": 0.00118741684127599,
                        "pitch": 0.2214825302362442,
                        "yaw": 179.6614990234375
                    }
                },
                "velocity": {
                    "x": 6.1516461755672935e-06,
                    "y": -1.3260309970064554e-06,
                    "z": -0.00021310924785211682
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012787780724465847,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 8.443407750746701e-06,
                    "y": 2.531877726141829e-05,
                    "z": 0.0012784994905814528
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5131309032440186,
                "transform": {
                    "location": {
                        "x": -130.24124145507812,
                        "y": 4295.0390625,
                        "z": 372.92926025390625
                    },
                    "rotation": {
                        "roll": -0.0036621096078306437,
                        "pitch": 0.4413872957229614,
                        "yaw": 179.49835205078125
                    }
                },
                "velocity": {
                    "x": -1.5130937099456787,
                    "y": 0.009374236688017845,
                    "z": 0.004954061470925808
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0016039550537243485,
                "transform": {
                    "location": {
                        "x": -140.62554931640625,
                        "y": 4295.1015625,
                        "z": 372.9598388671875
                    },
                    "rotation": {
                        "roll": 0.0027151969261467457,
                        "pitch": 0.21781471371650696,
                        "yaw": -179.83082580566406
                    }
                },
                "velocity": {
                    "x": 1.282747780351201e-05,
                    "y": 1.9153381799696945e-05,
                    "z": 0.0016037893947213888
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1571887731552124,
                "transform": {
                    "location": {
                        "x": -222.111328125,
                        "y": 4298.974609375,
                        "z": 373.2605895996094
                    },
                    "rotation": {
                        "roll": -0.0013732911320403218,
                        "pitch": 0.06670362502336502,
                        "yaw": 0.14998044073581696
                    }
                },
                "velocity": {
                    "x": 1.157185673713684,
                    "y": 0.0008432990871369839,
                    "z": -0.0025537775363773108
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.3180236816406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0316169448196888,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3480134904384613,
        "expert_target_speed": 10.0,
        "target_point": [
            20.1672694814315,
            0.8968409126188192
        ],
        "target_point_next": [
            31.162139031564045,
            1.2321392248394973
        ]
    },
    "645": {
        "acceleration": [
            0.19314615428447723,
            0.008333142846822739,
            -0.008952904492616653
        ],
        "angular_velocity": [
            0.023897986859083176,
            -0.048753295093774796,
            -0.011216897517442703
        ],
        "forward_vector": [
            -0.9993327260017395,
            0.03636123985052109,
            0.0034574198070913553
        ],
        "right_vector": [
            -0.03636104613542557,
            -0.999338686466217,
            0.00011877623182954267
        ],
        "location": [
            -166.1426544189453,
            4292.37939453125,
            373.0543212890625
        ],
        "rotation": [
            -0.006805417127907276,
            0.19809596240520477,
            177.9161834716797
        ],
        "velocity": [
            -0.008899624459445477,
            0.0005925913574174047,
            0.001136732054874301
        ],
        "speed": 0.008919331815559168,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.38052749633789,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1567138244572561e-05,
                4.334387540438911e-06,
                0.0009079828741960227
            ],
            "speed_kmh": 0.0032690408212880796,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9044315814971924,
                "transform": {
                    "location": {
                        "x": -174.48687744140625,
                        "y": 4331.92431640625,
                        "z": 373.1257629394531
                    },
                    "rotation": {
                        "roll": -0.002105733612552285,
                        "pitch": -0.5230695009231567,
                        "yaw": -89.95113372802734
                    }
                },
                "velocity": {
                    "x": 0.0005306843668222427,
                    "y": -1.9044311046600342,
                    "z": -0.0012722682440653443
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001294857356697321,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 1.060105887518148e-06,
                    "y": 3.4521087854955113e-06,
                    "z": -0.00012943537149112672
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0018262561643496156,
                "transform": {
                    "location": {
                        "x": -212.3671112060547,
                        "y": 4302.19189453125,
                        "z": 373.2560119628906
                    },
                    "rotation": {
                        "roll": -0.003997802734375,
                        "pitch": -0.2598613500595093,
                        "yaw": 0.1525673121213913
                    }
                },
                "velocity": {
                    "x": -0.00033209010143764317,
                    "y": 0.00014878466026857495,
                    "z": -0.0017896343488246202
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9524482488632202,
                "transform": {
                    "location": {
                        "x": -174.49171447753906,
                        "y": 4319.3828125,
                        "z": 373.1125793457031
                    },
                    "rotation": {
                        "roll": 0.0004530410224106163,
                        "pitch": 0.10284215211868286,
                        "yaw": -89.83873748779297
                    }
                },
                "velocity": {
                    "x": 0.00017436321650166065,
                    "y": -1.9524468183517456,
                    "z": -0.002327575581148267
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00012621893256437033,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 1.5238932974170893e-05,
                    "y": 3.6409123822522815e-06,
                    "z": 0.00012524270277936012
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012094193371012807,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 1.2537761904241052e-05,
                    "y": -1.2487282219808549e-05,
                    "z": 0.0012092898832634091
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001343023031949997,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.064995886845281e-06,
                    "y": 1.378636795834609e-07,
                    "z": 0.00013416522415354848
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.190783500671387,
                "transform": {
                    "location": {
                        "x": -176.26437377929688,
                        "y": 4302.1884765625,
                        "z": 373.09527587890625
                    },
                    "rotation": {
                        "roll": 0.518248438835144,
                        "pitch": 0.05697060376405716,
                        "yaw": -110.74457550048828
                    }
                },
                "velocity": {
                    "x": -3.2615060806274414,
                    "y": -7.513415813446045,
                    "z": -0.00951161328703165
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9049216508865356,
                "transform": {
                    "location": {
                        "x": -120.11593627929688,
                        "y": 4294.97705078125,
                        "z": 372.87603759765625
                    },
                    "rotation": {
                        "roll": -0.0022583003155887127,
                        "pitch": 0.2643624544143677,
                        "yaw": 179.54324340820312
                    }
                },
                "velocity": {
                    "x": -1.9049063920974731,
                    "y": -0.0019253578502684832,
                    "z": 0.007372598629444838
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009080668678507209,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1567138244572561e-05,
                    "y": 4.334387540438911e-06,
                    "z": 0.0009079828741960227
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005873687332496047,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0006151731358841062,
                        "pitch": 0.22164645791053772,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 3.4943593618663726e-06,
                    "y": 1.5833054931135848e-05,
                    "z": -0.0005871448665857315
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00027623403002507985,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.00044508263817988336,
                        "pitch": 0.22171476483345032,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 1.4625377843913157e-05,
                    "y": 1.0424389529362088e-06,
                    "z": 0.00027584462077356875
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6799670457839966,
                "transform": {
                    "location": {
                        "x": -107.67156219482422,
                        "y": 4294.9208984375,
                        "z": 372.8289489746094
                    },
                    "rotation": {
                        "roll": 0.0012050187215209007,
                        "pitch": -0.045598339289426804,
                        "yaw": 179.51889038085938
                    }
                },
                "velocity": {
                    "x": -1.679952621459961,
                    "y": 0.0009844370651990175,
                    "z": 0.006905622314661741
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.349493949324824e-05,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2898864746094
                    },
                    "rotation": {
                        "roll": 0.00118741684127599,
                        "pitch": 0.2214825302362442,
                        "yaw": 179.6614990234375
                    }
                },
                "velocity": {
                    "x": 7.2937828008434735e-06,
                    "y": -2.251798179031539e-07,
                    "z": 5.299489203025587e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00043452519457787275,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.0517946975596715e-05,
                    "y": -1.935089130711276e-05,
                    "z": 0.0004339666629675776
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001852030400186777,
                "transform": {
                    "location": {
                        "x": -130.2960968017578,
                        "y": 4295.03955078125,
                        "z": 372.93292236328125
                    },
                    "rotation": {
                        "roll": 0.0010277993278577924,
                        "pitch": 0.0037975849118083715,
                        "yaw": 179.48597717285156
                    }
                },
                "velocity": {
                    "x": -0.0001813144626794383,
                    "y": -5.0997614380321465e-06,
                    "z": -3.740627653314732e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006269192672334611,
                "transform": {
                    "location": {
                        "x": -140.62554931640625,
                        "y": 4295.1015625,
                        "z": 372.9598388671875
                    },
                    "rotation": {
                        "roll": 0.0030764250550419092,
                        "pitch": 0.21779422461986542,
                        "yaw": -179.83079528808594
                    }
                },
                "velocity": {
                    "x": 7.763876965327654e-06,
                    "y": 1.0118098543898668e-05,
                    "z": 0.000626789522357285
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9925482273101807,
                "transform": {
                    "location": {
                        "x": -221.67640686035156,
                        "y": 4298.97509765625,
                        "z": 373.2591857910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.05244218930602074,
                        "yaw": 0.11686132848262787
                    }
                },
                "velocity": {
                    "x": 1.9925357103347778,
                    "y": 0.002780534327030182,
                    "z": -0.006501436233520508
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.12636058032512665,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.05303955078125
                    },
                    "rotation": {
                        "roll": 0.00013633197522722185,
                        "pitch": 0.030244076624512672,
                        "yaw": -90.0511703491211
                    }
                },
                "velocity": {
                    "x": 3.7910569972154917e-06,
                    "y": 6.987529195612296e-05,
                    "z": 0.12636055052280426
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34929704666137695,
        "expert_target_speed": 10.0,
        "target_point": [
            20.163195628735213,
            0.8953730909842142
        ],
        "target_point_next": [
            31.15808705933615,
            1.2299531440478473
        ]
    },
    "650": {
        "acceleration": [
            -0.17556829750537872,
            -0.013426709920167923,
            0.006957435980439186
        ],
        "angular_velocity": [
            -0.01402372308075428,
            0.02752051129937172,
            0.009438454173505306
        ],
        "forward_vector": [
            -0.9993338584899902,
            0.03632883355021477,
            0.0034646918065845966
        ],
        "right_vector": [
            -0.0363285169005394,
            -0.9993398785591125,
            0.00015446242468897253
        ],
        "location": [
            -166.14593505859375,
            4292.37939453125,
            373.0543212890625
        ],
        "rotation": [
            -0.008850098587572575,
            0.19851261377334595,
            177.9180450439453
        ],
        "velocity": [
            -0.020297080278396606,
            0.00022629936574958265,
            0.0006172084831632674
        ],
        "speed": 0.0202983417852448,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.37724685668945,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.932128366723191e-06,
                -7.852633643778972e-06,
                0.00017102934361901134
            ],
            "speed_kmh": 0.00061719249966088,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.8236510753631592,
                "transform": {
                    "location": {
                        "x": -174.48687744140625,
                        "y": 4331.6904296875,
                        "z": 373.1258544921875
                    },
                    "rotation": {
                        "roll": -0.0003662238596007228,
                        "pitch": -0.1722710281610489,
                        "yaw": -89.93262481689453
                    }
                },
                "velocity": {
                    "x": 0.0018174850847572088,
                    "y": -1.8236498832702637,
                    "z": -0.001107549644075334
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009283378603868186,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 1.242238977283705e-05,
                    "y": -1.3521785149350762e-06,
                    "z": 0.0009282537503167987
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002056671801256016,
                "transform": {
                    "location": {
                        "x": -212.366943359375,
                        "y": 4302.19189453125,
                        "z": 373.2557067871094
                    },
                    "rotation": {
                        "roll": -0.0028381345327943563,
                        "pitch": -0.23034128546714783,
                        "yaw": 0.1525508463382721
                    }
                },
                "velocity": {
                    "x": -8.661420724820346e-05,
                    "y": 0.00011219085718039423,
                    "z": 0.00014903080591466278
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.198420286178589,
                "transform": {
                    "location": {
                        "x": -174.49156188964844,
                        "y": 4318.73876953125,
                        "z": 373.1109924316406
                    },
                    "rotation": {
                        "roll": 0.003435180988162756,
                        "pitch": 0.34676867723464966,
                        "yaw": -89.900146484375
                    }
                },
                "velocity": {
                    "x": -0.0012237987248227,
                    "y": -3.1984188556671143,
                    "z": -0.0027584265917539597
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.8041828045388684e-05,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 6.913579909451073e-06,
                    "y": 5.946657211097772e-07,
                    "z": 2.716970629990101e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015413151122629642,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 1.5433690350619145e-05,
                    "y": 2.0851271983701736e-05,
                    "z": 0.001541096717119217
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.997342109680176,
                "transform": {
                    "location": {
                        "x": -177.23585510253906,
                        "y": 4300.40869140625,
                        "z": 373.0935363769531
                    },
                    "rotation": {
                        "roll": 0.6574324369430542,
                        "pitch": -0.01821611262857914,
                        "yaw": -120.35040283203125
                    }
                },
                "velocity": {
                    "x": -4.350986003875732,
                    "y": -6.710170745849609,
                    "z": -0.0025272942148149014
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012926652561873198,
                "transform": {
                    "location": {
                        "x": -120.38546752929688,
                        "y": 4294.97607421875,
                        "z": 372.8778381347656
                    },
                    "rotation": {
                        "roll": 0.0027329102158546448,
                        "pitch": 0.12135879695415497,
                        "yaw": 179.39755249023438
                    }
                },
                "velocity": {
                    "x": 7.42415722925216e-05,
                    "y": 0.00012726163549814373,
                    "z": -0.0012842414434999228
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00017144235607702285,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.932128366723191e-06,
                    "y": -7.852633643778972e-06,
                    "z": 0.00017102934361901134
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000967322732321918,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0006151731358841062,
                        "pitch": 0.22164645791053772,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 4.631579031411093e-06,
                    "y": 3.541229489201214e-06,
                    "z": -0.0009673051536083221
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00011409785656724125,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.0007175998762249947,
                        "pitch": 0.22187867760658264,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 1.0733567251008935e-05,
                    "y": 1.1947098528253264e-06,
                    "z": 0.00011358558549545705
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00014229794032871723,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": -1.474469826234781e-07,
                    "y": 5.104148294776678e-05,
                    "z": -0.0001328286452917382
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0718121528625488,
                "transform": {
                    "location": {
                        "x": -107.82929229736328,
                        "y": 4294.92138671875,
                        "z": 372.82818603515625
                    },
                    "rotation": {
                        "roll": 0.00018669785640668124,
                        "pitch": 0.1315494328737259,
                        "yaw": 179.51219177246094
                    }
                },
                "velocity": {
                    "x": -1.0717285871505737,
                    "y": 0.010934742167592049,
                    "z": 0.007717599626630545
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003139869077131152,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2899169921875
                    },
                    "rotation": {
                        "roll": 0.0010367362992838025,
                        "pitch": 0.22135959565639496,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 1.1193640602868982e-05,
                    "y": -6.436101102735847e-06,
                    "z": 0.00031372130615636706
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010358116123825312,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 2.1609364921459928e-05,
                    "y": -1.4976027387092472e-06,
                    "z": 0.001035585068166256
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.31931406259536743,
                "transform": {
                    "location": {
                        "x": -130.32156372070312,
                        "y": 4295.0400390625,
                        "z": 372.9313659667969
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": 0.2111826092004776,
                        "yaw": 179.51197814941406
                    }
                },
                "velocity": {
                    "x": -0.31929755210876465,
                    "y": 0.0024218240287154913,
                    "z": 0.002162027405574918
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00013663397112395614,
                "transform": {
                    "location": {
                        "x": -140.62554931640625,
                        "y": 4295.1015625,
                        "z": 372.9598693847656
                    },
                    "rotation": {
                        "roll": 0.0029166522435843945,
                        "pitch": 0.217725932598114,
                        "yaw": -179.83079528808594
                    }
                },
                "velocity": {
                    "x": 7.050558906485094e-06,
                    "y": -1.1266173714830074e-05,
                    "z": 0.0001359860470984131
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.447061777114868,
                "transform": {
                    "location": {
                        "x": -221.1072540283203,
                        "y": 4298.97705078125,
                        "z": 373.2582702636719
                    },
                    "rotation": {
                        "roll": 0.006594620645046234,
                        "pitch": -0.10204984992742538,
                        "yaw": -0.1602477878332138
                    }
                },
                "velocity": {
                    "x": 2.4470419883728027,
                    "y": 0.0005261721089482307,
                    "z": -0.009826431050896645
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.13718180358409882,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.1053771972656
                    },
                    "rotation": {
                        "roll": -9.155389125226066e-05,
                        "pitch": 0.030223585665225983,
                        "yaw": -90.0511703491211
                    }
                },
                "velocity": {
                    "x": -1.1722324416041374e-05,
                    "y": 7.421221380354837e-05,
                    "z": 0.13718178868293762
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.35065218806266785,
        "expert_target_speed": 10.0,
        "target_point": [
            20.15994617648384,
            0.8946001183717989
        ],
        "target_point_next": [
            31.154848450038607,
            1.2288236627102622
        ]
    },
    "655": {
        "acceleration": [
            0.22571071982383728,
            0.007773417979478836,
            0.0017524720169603825
        ],
        "angular_velocity": [
            0.0255436971783638,
            -0.05662374570965767,
            -0.02250572293996811
        ],
        "forward_vector": [
            -0.999333381652832,
            0.03634527698159218,
            0.003440015483647585
        ],
        "right_vector": [
            -0.03634507581591606,
            -0.9993392825126648,
            0.00012143939238740131
        ],
        "location": [
            -166.14859008789062,
            4292.37939453125,
            373.0543212890625
        ],
        "rotation": [
            -0.0069580054841935635,
            0.1970987617969513,
            177.91709899902344
        ],
        "velocity": [
            -0.0022745360620319843,
            0.00046412216033786535,
            0.000866851769387722
        ],
        "speed": 0.0023214055391509373,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.37459182739258,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2525096281024162e-05,
                -2.3723463016267488e-07,
                0.0010951788863167167
            ],
            "speed_kmh": 0.003942901914386092,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.137441635131836,
                "transform": {
                    "location": {
                        "x": -174.48687744140625,
                        "y": 4331.12548828125,
                        "z": 373.125732421875
                    },
                    "rotation": {
                        "roll": -0.0003356931556481868,
                        "pitch": 0.024356452748179436,
                        "yaw": -89.83428192138672
                    }
                },
                "velocity": {
                    "x": 0.0003569039108697325,
                    "y": -2.1374406814575195,
                    "z": -0.0019081496866419911
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2687129128607921e-05,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 5.470365067594685e-06,
                    "y": 5.008978860132629e-06,
                    "z": 1.0293128070770763e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003351511259097606,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.255615234375
                    },
                    "rotation": {
                        "roll": -0.001983642578125,
                        "pitch": -0.22189916670322418,
                        "yaw": 0.15253989398479462
                    }
                },
                "velocity": {
                    "x": -1.9331275780132273e-06,
                    "y": -5.272967609926127e-05,
                    "z": 0.00033097146661020815
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.598110675811768,
                "transform": {
                    "location": {
                        "x": -174.49131774902344,
                        "y": 4317.74951171875,
                        "z": 373.1095275878906
                    },
                    "rotation": {
                        "roll": 0.004627097398042679,
                        "pitch": 0.502510666847229,
                        "yaw": -89.96102142333984
                    }
                },
                "velocity": {
                    "x": -0.002862615277990699,
                    "y": -4.598108291625977,
                    "z": -0.0040397546254098415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011078274110332131,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 3.73426814803679e-06,
                    "y": 4.354846532805823e-05,
                    "z": 0.0011069648899137974
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001446021837182343,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 2.629209302540403e-05,
                    "y": 3.9885293517727405e-05,
                    "z": 0.0014452324248850346
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00019731232896447182,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.280988145590527e-06,
                    "y": 1.1720927517444579e-07,
                    "z": 0.00019721229909919202
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.988863945007324,
                "transform": {
                    "location": {
                        "x": -178.47804260253906,
                        "y": 4298.859375,
                        "z": 373.09490966796875
                    },
                    "rotation": {
                        "roll": 0.7684250473976135,
                        "pitch": 0.09714577347040176,
                        "yaw": -130.51576232910156
                    }
                },
                "velocity": {
                    "x": -5.48615026473999,
                    "y": -5.807231426239014,
                    "z": 0.012638263404369354
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011307667009532452,
                "transform": {
                    "location": {
                        "x": -120.3860092163086,
                        "y": 4294.97607421875,
                        "z": 372.8772888183594
                    },
                    "rotation": {
                        "roll": 0.0010795921552926302,
                        "pitch": 0.1968255490064621,
                        "yaw": 179.3975830078125
                    }
                },
                "velocity": {
                    "x": 0.00012238371709827334,
                    "y": -0.0003163142828270793,
                    "z": 0.0010787033243104815
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010952504817396402,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2525096281024162e-05,
                    "y": -2.3723463016267488e-07,
                    "z": 0.0010951788863167167
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00034220697125419974,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0006151731358841062,
                        "pitch": 0.22164645791053772,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 8.151717338478193e-06,
                    "y": 8.680176506459247e-06,
                    "z": -0.00034199972287751734
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.0007175998762249947,
                        "pitch": 0.22187867760658264,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002710976405069232,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.750893898133654e-05,
                    "y": -3.6156994610792026e-05,
                    "z": -0.0002681045443750918
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3466309309005737,
                "transform": {
                    "location": {
                        "x": -108.15929412841797,
                        "y": 4294.92333984375,
                        "z": 372.8289794921875
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": 0.22153034806251526,
                        "yaw": 179.53550720214844
                    }
                },
                "velocity": {
                    "x": -1.3465856313705444,
                    "y": 0.00935252197086811,
                    "z": 0.005866918247193098
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4756406926608179e-05,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2899169921875
                    },
                    "rotation": {
                        "roll": 0.0010367362992838025,
                        "pitch": 0.22135959565639496,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 7.542483217548579e-06,
                    "y": -6.360933113569445e-09,
                    "z": 1.2683156455750577e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007005914230830967,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.1899843229912221e-05,
                    "y": 1.289241208723979e-05,
                    "z": 0.0007003717473708093
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.1038222387433052,
                "transform": {
                    "location": {
                        "x": -130.39202880859375,
                        "y": 4295.0400390625,
                        "z": 372.9314270019531
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": 0.24499887228012085,
                        "yaw": 179.5059051513672
                    }
                },
                "velocity": {
                    "x": -0.10382041335105896,
                    "y": 0.0005076463567093015,
                    "z": 0.0003479480801615864
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.043706487864255905,
                "transform": {
                    "location": {
                        "x": -140.62835693359375,
                        "y": 4295.1015625,
                        "z": 372.9598388671875
                    },
                    "rotation": {
                        "roll": 0.0013632446061819792,
                        "pitch": 0.21948128938674927,
                        "yaw": -179.83714294433594
                    }
                },
                "velocity": {
                    "x": -0.043675925582647324,
                    "y": 0.0003110167453996837,
                    "z": 0.0016043471405282617
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0016183062689378858,
                "transform": {
                    "location": {
                        "x": -220.98733520507812,
                        "y": 4298.978515625,
                        "z": 373.2629699707031
                    },
                    "rotation": {
                        "roll": 0.008658953942358494,
                        "pitch": -0.739285945892334,
                        "yaw": -0.2889098823070526
                    }
                },
                "velocity": {
                    "x": -0.0012355991639196873,
                    "y": -0.00017715146532282233,
                    "z": -0.0010299645364284515
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.5806492567062378,
                "transform": {
                    "location": {
                        "x": -174.56304931640625,
                        "y": 4349.1640625,
                        "z": 373.11859130859375
                    },
                    "rotation": {
                        "roll": -0.0013427732046693563,
                        "pitch": 0.06167660653591156,
                        "yaw": -90.00818634033203
                    }
                },
                "velocity": {
                    "x": 0.023916615173220634,
                    "y": -1.5804444551467896,
                    "z": 0.008687791414558887
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.35059964656829834,
        "expert_target_speed": 10.0,
        "target_point": [
            20.157278395046752,
            0.8948304633571096
        ],
        "target_point_next": [
            31.152175248569574,
            1.2292322621021055
        ]
    },
    "660": {
        "acceleration": [
            -0.17224758863449097,
            -0.009857658296823502,
            0.0034587853588163853
        ],
        "angular_velocity": [
            0.0027656827587634325,
            0.039254166185855865,
            0.033060960471630096
        ],
        "forward_vector": [
            -0.9993348717689514,
            0.03630119562149048,
            0.0034702944103628397
        ],
        "right_vector": [
            -0.036301031708717346,
            -0.9993408918380737,
            0.0001102542009903118
        ],
        "location": [
            -166.1513214111328,
            4292.37939453125,
            373.0543212890625
        ],
        "rotation": [
            -0.006317138206213713,
            0.198833629488945,
            177.9196319580078
        ],
        "velocity": [
            -0.013570493087172508,
            0.00014118279796093702,
            0.0008361053187400103
        ],
        "speed": 0.013571227476224725,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.37186050415039,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0357535757066216e-05,
                1.5487183873119648e-06,
                0.00030919877463020384
            ],
            "speed_kmh": 0.0011137538905149312,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.581534206867218,
                "transform": {
                    "location": {
                        "x": -174.48678588867188,
                        "y": 4331.01123046875,
                        "z": 373.1256103515625
                    },
                    "rotation": {
                        "roll": -0.0029907270800322294,
                        "pitch": -0.19937321543693542,
                        "yaw": -89.7751235961914
                    }
                },
                "velocity": {
                    "x": 0.002335889497771859,
                    "y": -0.5815290808677673,
                    "z": -0.0006983756902627647
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011929433094337583,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 9.950734238373116e-06,
                    "y": 1.7709563735479605e-06,
                    "z": 0.001192900468595326
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004910189309157431,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.255615234375
                    },
                    "rotation": {
                        "roll": -0.0028686518780887127,
                        "pitch": -0.21917392313480377,
                        "yaw": 0.15252511203289032
                    }
                },
                "velocity": {
                    "x": -4.071928287885385e-06,
                    "y": 5.638758921122644e-06,
                    "z": 0.0004909696872346103
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.142161846160889,
                "transform": {
                    "location": {
                        "x": -174.4921112060547,
                        "y": 4316.47412109375,
                        "z": 373.1090393066406
                    },
                    "rotation": {
                        "roll": 0.0037864004261791706,
                        "pitch": 0.35962992906570435,
                        "yaw": -90.01226043701172
                    }
                },
                "velocity": {
                    "x": -0.004423470236361027,
                    "y": -5.14215612411499,
                    "z": -0.006187171675264835
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00024888411280699074,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 8.880384484655224e-06,
                    "y": 3.216788172721863e-06,
                    "z": 0.00024870483321137726
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009616155293770134,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": -1.264255479327403e-05,
                    "y": 2.4226772438851185e-05,
                    "z": 0.0009612271678633988
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00021990560344420373,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 4.776753485202789e-06,
                    "y": -6.369955372065306e-06,
                    "z": -0.00021976142306812108
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.07182788848877,
                "transform": {
                    "location": {
                        "x": -179.9922637939453,
                        "y": 4297.5322265625,
                        "z": 373.0998840332031
                    },
                    "rotation": {
                        "roll": 0.8186171650886536,
                        "pitch": 0.21064302325248718,
                        "yaw": -140.5576171875
                    }
                },
                "velocity": {
                    "x": -6.463095664978027,
                    "y": -4.835489273071289,
                    "z": 0.02902466617524624
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010610828176140785,
                "transform": {
                    "location": {
                        "x": -120.38616943359375,
                        "y": 4294.97607421875,
                        "z": 372.8771667480469
                    },
                    "rotation": {
                        "roll": 0.0010226068552583456,
                        "pitch": 0.21523290872573853,
                        "yaw": 179.39759826660156
                    }
                },
                "velocity": {
                    "x": 4.460908530745655e-05,
                    "y": -2.797756314976141e-05,
                    "z": 0.001059775473549962
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00030937607516534626,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0357535757066216e-05,
                    "y": 1.5487183873119648e-06,
                    "z": 0.00030919877463020384
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007953920285217464,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0006151731358841062,
                        "pitch": 0.22164645791053772,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 6.141215635580011e-06,
                    "y": -5.836962827743264e-06,
                    "z": -0.0007953469175845385
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006156183080747724,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.0007175998762249947,
                        "pitch": 0.22187867760658264,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 2.3304968635784462e-05,
                    "y": -5.2063073781027924e-06,
                    "z": 0.0006151550333015621
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00040654558688402176,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.373376653646119e-05,
                    "y": -5.933504507993348e-05,
                    "z": -0.0004019577754661441
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1933982372283936,
                "transform": {
                    "location": {
                        "x": -108.58765411376953,
                        "y": 4294.923828125,
                        "z": 372.83062744140625
                    },
                    "rotation": {
                        "roll": -0.0019226070726290345,
                        "pitch": 0.20662003755569458,
                        "yaw": 179.32870483398438
                    }
                },
                "velocity": {
                    "x": -1.1933780908584595,
                    "y": -0.006908609066158533,
                    "z": 0.0005174159887246788
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00017235577979590744,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2899169921875
                    },
                    "rotation": {
                        "roll": 0.0010367362992838025,
                        "pitch": 0.22135959565639496,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 1.1388472557882778e-05,
                    "y": 2.2292821086011827e-05,
                    "z": 0.00017052814655471593
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00010988052235916257,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 8.229650120483711e-06,
                    "y": -1.7230639059562236e-05,
                    "z": 0.00010820862371474504
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.09919895231723785,
                "transform": {
                    "location": {
                        "x": -130.41929626464844,
                        "y": 4295.0400390625,
                        "z": 372.9318542480469
                    },
                    "rotation": {
                        "roll": -0.0010986324632540345,
                        "pitch": 0.1932397037744522,
                        "yaw": 179.5137481689453
                    }
                },
                "velocity": {
                    "x": -0.09918805211782455,
                    "y": 0.0004838013555854559,
                    "z": 0.0013883685460314155
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.43699756264686584,
                "transform": {
                    "location": {
                        "x": -140.681640625,
                        "y": 4295.1015625,
                        "z": 372.9600830078125
                    },
                    "rotation": {
                        "roll": 0.0023582864087074995,
                        "pitch": 0.22999294102191925,
                        "yaw": -179.84483337402344
                    }
                },
                "velocity": {
                    "x": -0.4369931221008301,
                    "y": 0.0014832409797236323,
                    "z": 0.001294040703214705
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0034121766220778227,
                "transform": {
                    "location": {
                        "x": -220.98367309570312,
                        "y": 4298.978515625,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": 0.0002608131617307663,
                        "pitch": -0.30584219098091125,
                        "yaw": -0.2889098525047302
                    }
                },
                "velocity": {
                    "x": -0.0030741288792341948,
                    "y": -0.000137278315378353,
                    "z": -0.0014743931824341416
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.8339555263519287,
                "transform": {
                    "location": {
                        "x": -174.55874633789062,
                        "y": 4348.58154296875,
                        "z": 373.11859130859375
                    },
                    "rotation": {
                        "roll": -0.0016784666804596782,
                        "pitch": 0.06444282829761505,
                        "yaw": -89.8468017578125
                    }
                },
                "velocity": {
                    "x": 0.023920070379972458,
                    "y": -2.8338537216186523,
                    "z": -0.0021094989497214556
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3493618369102478,
        "expert_target_speed": 10.0,
        "target_point": [
            20.15458810797865,
            0.8938470320210873
        ],
        "target_point_next": [
            31.149499620800388,
            1.2277664951103873
        ]
    },
    "665": {
        "acceleration": [
            0.13140630722045898,
            0.011278991587460041,
            -0.00029678340069949627
        ],
        "angular_velocity": [
            0.02397695928812027,
            -0.04062619060277939,
            -0.0191822312772274
        ],
        "forward_vector": [
            -0.9993346333503723,
            0.03630691394209862,
            0.0034677910152822733
        ],
        "right_vector": [
            -0.036306701600551605,
            -0.9993406534194946,
            0.00012516777496784925
        ],
        "location": [
            -166.1539764404297,
            4292.37939453125,
            373.0543212890625
        ],
        "rotation": [
            -0.007171628996729851,
            0.19869019091129303,
            177.91929626464844
        ],
        "velocity": [
            -0.007913857698440552,
            0.000519236025866121,
            0.0007608794840052724
        ],
        "speed": 0.007930873200456809,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.369205474853516,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                7.712207661825232e-06,
                -8.87483747646911e-06,
                0.0007250267663039267
            ],
            "speed_kmh": 0.002610439542216442,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.8400853872299194,
                "transform": {
                    "location": {
                        "x": -174.48687744140625,
                        "y": 4330.7080078125,
                        "z": 373.1256103515625
                    },
                    "rotation": {
                        "roll": 0.0017281435430049896,
                        "pitch": 0.14768917858600616,
                        "yaw": -89.81450653076172
                    }
                },
                "velocity": {
                    "x": 0.0018345771823078394,
                    "y": -1.8400835990905762,
                    "z": -0.0018355369102209806
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00110012071672827,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 6.8464128162304405e-06,
                    "y": 1.8095883206115104e-05,
                    "z": 0.001099950517527759
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.567872671643272e-05,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15251275897026062
                    }
                },
                "velocity": {
                    "x": 5.725659320887644e-06,
                    "y": -1.2620659617823549e-05,
                    "z": 7.439896580763161e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.932519435882568,
                "transform": {
                    "location": {
                        "x": -174.493896484375,
                        "y": 4315.22900390625,
                        "z": 373.10845947265625
                    },
                    "rotation": {
                        "roll": 0.0021027277689427137,
                        "pitch": 0.016843246296048164,
                        "yaw": -90.03575897216797
                    }
                },
                "velocity": {
                    "x": -0.004263231530785561,
                    "y": -4.932513236999512,
                    "z": -0.006291064899414778
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005659029120579362,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 1.3614333511213772e-05,
                    "y": 6.197665243234951e-06,
                    "z": 0.0005657051806338131
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014795918250456452,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 9.51599304244155e-06,
                    "y": 5.392706952989101e-06,
                    "z": 0.0014795514289289713
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001090733494493179,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 8.124038686219137e-06,
                    "y": -1.3092496374156326e-05,
                    "z": 0.0001079795474652201
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.009400367736816,
                "transform": {
                    "location": {
                        "x": -181.71038818359375,
                        "y": 4296.49951171875,
                        "z": 373.10784912109375
                    },
                    "rotation": {
                        "roll": 0.8027534484863281,
                        "pitch": 0.21641452610492706,
                        "yaw": -150.72618103027344
                    }
                },
                "velocity": {
                    "x": -7.158427715301514,
                    "y": -3.592539072036743,
                    "z": 0.0328555591404438
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001094851759262383,
                "transform": {
                    "location": {
                        "x": -120.38616943359375,
                        "y": 4294.97607421875,
                        "z": 372.87713623046875
                    },
                    "rotation": {
                        "roll": 0.001422341214492917,
                        "pitch": 0.22548502683639526,
                        "yaw": 179.39761352539062
                    }
                },
                "velocity": {
                    "x": 2.457279697409831e-05,
                    "y": -0.00027143629267811775,
                    "z": 0.0010603861883282661
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000725122110452503,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 7.712207661825232e-06,
                    "y": -8.87483747646911e-06,
                    "z": 0.0007250267663039267
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005770812276750803,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0006151731358841062,
                        "pitch": 0.22164645791053772,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 9.040720215125475e-06,
                    "y": -6.460073564085178e-06,
                    "z": -0.0005769742419943213
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.713427425595e-05,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.0007175998762249947,
                        "pitch": 0.22187867760658264,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 1.0518170711293351e-05,
                    "y": -3.341388890021335e-07,
                    "z": 9.656253678258508e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.521149720763788e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 2.148747444152832e-05,
                    "y": 4.543533577816561e-05,
                    "z": 6.881074659759179e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9282000064849854,
                "transform": {
                    "location": {
                        "x": -108.9945297241211,
                        "y": 4294.92529296875,
                        "z": 372.8322448730469
                    },
                    "rotation": {
                        "roll": -0.00045776375918649137,
                        "pitch": 0.21690630912780762,
                        "yaw": 179.41241455078125
                    }
                },
                "velocity": {
                    "x": -1.9281556606292725,
                    "y": 0.008600788190960884,
                    "z": 0.009861593134701252
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.045358193456195e-05,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2899169921875
                    },
                    "rotation": {
                        "roll": 0.0010367362992838025,
                        "pitch": 0.22135959565639496,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 7.4405220402695704e-06,
                    "y": -1.1775258599300287e-06,
                    "z": 4.9888032663147897e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000840105174575001,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.9941851860494353e-05,
                    "y": 9.586033229425084e-07,
                    "z": 0.0008398679201491177
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7722082138061523,
                "transform": {
                    "location": {
                        "x": -130.5367889404297,
                        "y": 4295.04150390625,
                        "z": 372.93121337890625
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.36092084646224976,
                        "yaw": 179.58287048339844
                    }
                },
                "velocity": {
                    "x": -0.7721915245056152,
                    "y": 0.004716936033219099,
                    "z": 0.0018947982462123036
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0070061683654785,
                "transform": {
                    "location": {
                        "x": -140.85772705078125,
                        "y": 4295.10107421875,
                        "z": 372.9606628417969
                    },
                    "rotation": {
                        "roll": 0.00148434704169631,
                        "pitch": 0.2354707568883896,
                        "yaw": -179.94175720214844
                    }
                },
                "velocity": {
                    "x": -1.0069893598556519,
                    "y": 0.005226191133260727,
                    "z": 0.002540016081184149
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0020055363420397043,
                "transform": {
                    "location": {
                        "x": -220.982177734375,
                        "y": 4298.978515625,
                        "z": 373.2582092285156
                    },
                    "rotation": {
                        "roll": -6.103517807787284e-05,
                        "pitch": -0.16024988889694214,
                        "yaw": -0.2889098823070526
                    }
                },
                "velocity": {
                    "x": 0.0001300801377510652,
                    "y": 1.667881770117674e-05,
                    "z": -0.0020012438762933016
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.613396406173706,
                "transform": {
                    "location": {
                        "x": -174.55303955078125,
                        "y": 4347.77099609375,
                        "z": 373.11871337890625
                    },
                    "rotation": {
                        "roll": -0.0007934561581350863,
                        "pitch": 0.05151328444480896,
                        "yaw": -89.69268798828125
                    }
                },
                "velocity": {
                    "x": 0.0317026749253273,
                    "y": -3.6132566928863525,
                    "z": 0.0022839545272290707
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3520951569080353,
        "expert_target_speed": 10.0,
        "target_point": [
            20.151929714219836,
            0.8938659614129433
        ],
        "target_point_next": [
            31.146839316159088,
            1.227848337885102
        ]
    },
    "670": {
        "acceleration": [
            -0.17096614837646484,
            -0.014173103496432304,
            0.014738084748387337
        ],
        "angular_velocity": [
            -0.0005714963772334158,
            0.03506525978446007,
            -0.005697498098015785
        ],
        "forward_vector": [
            -0.999335765838623,
            0.036275465041399,
            0.0034868645016103983
        ],
        "right_vector": [
            -0.03627516329288483,
            -0.9993418455123901,
            0.00014966870367061347
        ],
        "location": [
            -166.1574249267578,
            4292.37939453125,
            373.0543212890625
        ],
        "rotation": [
            -0.00857543759047985,
            0.19978302717208862,
            177.9210968017578
        ],
        "velocity": [
            -0.020127559080719948,
            9.61947298492305e-05,
            0.0011443233815953135
        ],
        "speed": 0.020127788948961153,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.36575698852539,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.271139808523003e-05,
                -1.2314360901655164e-05,
                0.001074120751582086
            ],
            "speed_kmh": 0.0038673595660192136,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.272411823272705,
                "transform": {
                    "location": {
                        "x": -174.48687744140625,
                        "y": 4330.0712890625,
                        "z": 373.12542724609375
                    },
                    "rotation": {
                        "roll": 0.0010730833746492863,
                        "pitch": 0.24743041396141052,
                        "yaw": -89.83250427246094
                    }
                },
                "velocity": {
                    "x": 0.003054137574508786,
                    "y": -3.2724099159240723,
                    "z": -0.0017375086899846792
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005095763481222093,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": -2.8171016310807317e-05,
                    "y": -2.909055183408782e-05,
                    "z": 0.0005079647526144981
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00046343839494511485,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15251275897026062
                    }
                },
                "velocity": {
                    "x": 4.58687554782955e-06,
                    "y": -3.23928652505856e-05,
                    "z": 0.0004622821870725602
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.726017475128174,
                "transform": {
                    "location": {
                        "x": -174.49468994140625,
                        "y": 4314.02880859375,
                        "z": 373.1075744628906
                    },
                    "rotation": {
                        "roll": 0.0007251652423292398,
                        "pitch": -0.10763011872768402,
                        "yaw": -90.0421371459961
                    }
                },
                "velocity": {
                    "x": -0.004611819516867399,
                    "y": -4.726011276245117,
                    "z": -0.005972995422780514
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006606483948417008,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 1.2081525710527785e-05,
                    "y": 1.7346019376418553e-05,
                    "z": 0.0006603101501241326
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010309552308171988,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 3.571137767721666e-06,
                    "y": -1.5876648831181228e-05,
                    "z": 0.0010308268247172236
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.32701228116639e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 7.969103535288014e-06,
                    "y": -1.2570088074426167e-05,
                    "z": -7.174257916631177e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.00239372253418,
                "transform": {
                    "location": {
                        "x": -183.5832061767578,
                        "y": 4295.80615234375,
                        "z": 373.115966796875
                    },
                    "rotation": {
                        "roll": 0.8514195084571838,
                        "pitch": 0.2142152041196823,
                        "yaw": -161.5998077392578
                    }
                },
                "velocity": {
                    "x": -7.731466293334961,
                    "y": -2.064412832260132,
                    "z": 0.030475148931145668
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.504779577255249,
                "transform": {
                    "location": {
                        "x": -120.43241882324219,
                        "y": 4294.97607421875,
                        "z": 372.8771667480469
                    },
                    "rotation": {
                        "roll": -0.0012512203538790345,
                        "pitch": 0.2523754835128784,
                        "yaw": 179.42567443847656
                    }
                },
                "velocity": {
                    "x": -0.5047529339790344,
                    "y": 0.004938326310366392,
                    "z": 0.001580419484525919
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010742665035650134,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.271139808523003e-05,
                    "y": -1.2314360901655164e-05,
                    "z": 0.001074120751582086
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000216087864828296,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0006151731358841062,
                        "pitch": 0.22164645791053772,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 1.2331976904533803e-05,
                    "y": -1.6849368194016279e-06,
                    "z": 0.00021572910191025585
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00033217816962860525,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.0005871857283636928,
                        "pitch": 0.22185136377811432,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 1.4482549886452034e-05,
                    "y": -1.896597859740723e-05,
                    "z": 0.0003313199267722666
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.078865771996789e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 8.1453470102133e-07,
                    "y": 1.8827411622623913e-05,
                    "z": 5.779382263426669e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9550389051437378,
                "transform": {
                    "location": {
                        "x": -109.41351318359375,
                        "y": 4294.92822265625,
                        "z": 372.8338928222656
                    },
                    "rotation": {
                        "roll": 0.0003716487844940275,
                        "pitch": 0.2166399210691452,
                        "yaw": 179.53265380859375
                    }
                },
                "velocity": {
                    "x": -1.9549912214279175,
                    "y": 0.00843160878866911,
                    "z": 0.0107371611520648
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006659994833171368,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2898864746094
                    },
                    "rotation": {
                        "roll": 0.0007366705685853958,
                        "pitch": 0.22157815098762512,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 8.028261618164834e-06,
                    "y": 8.10751680546673e-06,
                    "z": 0.000665901752654463
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005842753453180194,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.4611408005293924e-05,
                    "y": 7.997221473488025e-06,
                    "z": 0.0005840378580614924
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.863892138004303,
                "transform": {
                    "location": {
                        "x": -130.6676483154297,
                        "y": 4295.04248046875,
                        "z": 372.9324951171875
                    },
                    "rotation": {
                        "roll": -0.0020446775015443563,
                        "pitch": 0.2452925741672516,
                        "yaw": 179.62796020507812
                    }
                },
                "velocity": {
                    "x": -0.8638777136802673,
                    "y": 0.004355489742010832,
                    "z": 0.002442006953060627
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5357530117034912,
                "transform": {
                    "location": {
                        "x": -141.17257690429688,
                        "y": 4295.1015625,
                        "z": 372.9617614746094
                    },
                    "rotation": {
                        "roll": 0.0020082073751837015,
                        "pitch": 0.23620842397212982,
                        "yaw": 179.88246154785156
                    }
                },
                "velocity": {
                    "x": -1.5357215404510498,
                    "y": 0.00818302109837532,
                    "z": 0.005458345171064138
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00027906137984246016,
                "transform": {
                    "location": {
                        "x": -220.98257446289062,
                        "y": 4298.978515625,
                        "z": 373.2585144042969
                    },
                    "rotation": {
                        "roll": 0.00024473611847497523,
                        "pitch": -0.19687336683273315,
                        "yaw": -0.2889098525047302
                    }
                },
                "velocity": {
                    "x": 0.0002722052449826151,
                    "y": -1.7254404156119563e-05,
                    "z": -5.900715768802911e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.347787857055664,
                "transform": {
                    "location": {
                        "x": -174.5449981689453,
                        "y": 4346.77197265625,
                        "z": 373.11907958984375
                    },
                    "rotation": {
                        "roll": -0.00024413930077571422,
                        "pitch": 0.04307800158858299,
                        "yaw": -89.601806640625
                    }
                },
                "velocity": {
                    "x": 0.039160873740911484,
                    "y": -4.347610950469971,
                    "z": 0.001754226628690958
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3494870364665985,
        "expert_target_speed": 10.0,
        "target_point": [
            20.148511618694986,
            0.8931066588666972
        ],
        "target_point_next": [
            31.14343172603302,
            1.2267430115978653
        ]
    },
    "675": {
        "acceleration": [
            0.19248469173908234,
            0.012444389052689075,
            -0.020069502294063568
        ],
        "angular_velocity": [
            0.018776612356305122,
            -0.0378921814262867,
            -0.04045237600803375
        ],
        "forward_vector": [
            -0.999335527420044,
            0.03628213331103325,
            0.003491871291771531
        ],
        "right_vector": [
            -0.03628190979361534,
            -0.999341607093811,
            0.00012676569167524576
        ],
        "location": [
            -166.161865234375,
            4292.37939453125,
            373.0543518066406
        ],
        "rotation": [
            -0.00726318359375,
            0.20006988942623138,
            177.92071533203125
        ],
        "velocity": [
            -0.013091198168694973,
            0.0007554319454357028,
            0.0010230827610939741
        ],
        "speed": 0.01311297627986215,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.3613166809082,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                7.4727086030179635e-06,
                3.2587086025159806e-06,
                0.00011819393694167957
            ],
            "speed_kmh": 0.00042650911364087535,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.762056827545166,
                "transform": {
                    "location": {
                        "x": -174.48687744140625,
                        "y": 4329.05419921875,
                        "z": 373.125
                    },
                    "rotation": {
                        "roll": 0.0021192908752709627,
                        "pitch": 0.27604207396507263,
                        "yaw": -89.89949035644531
                    }
                },
                "velocity": {
                    "x": 0.003087644698098302,
                    "y": -4.762055397033691,
                    "z": -0.0016857718583196402
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014872356550768018,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 2.3576951207360253e-05,
                    "y": 6.392968498403206e-05,
                    "z": 0.0014856739435344934
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.783441444393247e-05,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15251275897026062
                    }
                },
                "velocity": {
                    "x": 1.0059810847451445e-05,
                    "y": 5.531276201509172e-06,
                    "z": 8.708093082532287e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.564723968505859,
                "transform": {
                    "location": {
                        "x": -174.49476623535156,
                        "y": 4312.86474609375,
                        "z": 373.106201171875
                    },
                    "rotation": {
                        "roll": -0.00018310158338863403,
                        "pitch": -0.1325671374797821,
                        "yaw": -90.04254150390625
                    }
                },
                "velocity": {
                    "x": -0.003424993949010968,
                    "y": -4.564718723297119,
                    "z": -0.006182546261698008
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010591214522719383,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 1.1459551387815736e-05,
                    "y": -5.721019078919198e-06,
                    "z": 0.0010590440360829234
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003217071935068816,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.879456122987904e-06,
                    "y": 1.1500768778205384e-05,
                    "z": 0.00032142794225364923
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.093332290649414,
                "transform": {
                    "location": {
                        "x": -185.5653076171875,
                        "y": 4295.47119140625,
                        "z": 373.123779296875
                    },
                    "rotation": {
                        "roll": 0.6792256832122803,
                        "pitch": 0.1894899308681488,
                        "yaw": -171.86495971679688
                    }
                },
                "velocity": {
                    "x": -8.044315338134766,
                    "y": -0.8888871669769287,
                    "z": 0.03003467433154583
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.151673436164856,
                "transform": {
                    "location": {
                        "x": -120.66437530517578,
                        "y": 4294.9775390625,
                        "z": 372.8782653808594
                    },
                    "rotation": {
                        "roll": -0.0033874507062137127,
                        "pitch": 0.2720259428024292,
                        "yaw": 179.4541473388672
                    }
                },
                "velocity": {
                    "x": -1.15166175365448,
                    "y": -0.002913559088483453,
                    "z": 0.0042936610989272594
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00011847475252579898,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 7.4727086030179635e-06,
                    "y": 3.2587086025159806e-06,
                    "z": 0.00011819393694167957
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000826513220090419,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0006151731358841062,
                        "pitch": 0.22164645791053772,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 5.469285042636329e-06,
                    "y": 7.873714821471367e-06,
                    "z": -0.0008264576317742467
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005584444152191281,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.0016721589490771294,
                        "pitch": 0.22181038558483124,
                        "yaw": 179.66172790527344
                    }
                },
                "velocity": {
                    "x": 7.252134309965186e-06,
                    "y": -9.122148185269907e-06,
                    "z": 0.0005583228194154799
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00031707127345725894,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.4236234164854977e-05,
                    "y": -1.9093577066087164e-05,
                    "z": 0.0003161755157634616
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8879142999649048,
                "transform": {
                    "location": {
                        "x": -109.79039001464844,
                        "y": 4294.92919921875,
                        "z": 372.83526611328125
                    },
                    "rotation": {
                        "roll": -0.00079345703125,
                        "pitch": 0.24503302574157715,
                        "yaw": 179.49700927734375
                    }
                },
                "velocity": {
                    "x": -1.8878551721572876,
                    "y": 0.011601720936596394,
                    "z": 0.009405851364135742
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3919,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00019844902271870524,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.2898864746094
                    },
                    "rotation": {
                        "roll": 0.0007366705685853958,
                        "pitch": 0.22157815098762512,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 8.79358503880212e-06,
                    "y": -1.5239415915857535e-05,
                    "z": 0.00019766752666328102
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014591470826417208,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.6122348824865185e-05,
                    "y": 2.2909658582648262e-05,
                    "z": 0.0014588780468329787
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6460380554199219,
                "transform": {
                    "location": {
                        "x": -131.0172576904297,
                        "y": 4295.04443359375,
                        "z": 372.9322204589844
                    },
                    "rotation": {
                        "roll": -0.0020141599234193563,
                        "pitch": 0.44526684284210205,
                        "yaw": 179.6434783935547
                    }
                },
                "velocity": {
                    "x": -1.6460198163986206,
                    "y": 0.004936507903039455,
                    "z": 0.005979509092867374
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5954216122627258,
                "transform": {
                    "location": {
                        "x": -141.57289123535156,
                        "y": 4295.1005859375,
                        "z": 372.9635314941406
                    },
                    "rotation": {
                        "roll": 0.0001705121831037104,
                        "pitch": 0.2090311050415039,
                        "yaw": 179.5528564453125
                    }
                },
                "velocity": {
                    "x": -0.5954155921936035,
                    "y": 0.0018775545759126544,
                    "z": 0.0019168758299201727
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00013849376409780234,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.0003922842151951045,
                        "pitch": -0.2207653671503067,
                        "yaw": -0.2889098823070526
                    }
                },
                "velocity": {
                    "x": 0.000121995726658497,
                    "y": 1.1968700164288748e-05,
                    "z": 6.44539759377949e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.131433963775635,
                "transform": {
                    "location": {
                        "x": -174.53475952148438,
                        "y": 4345.58544921875,
                        "z": 373.1197814941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.037340641021728516,
                        "yaw": -89.53661346435547
                    }
                },
                "velocity": {
                    "x": 0.04709605127573013,
                    "y": -5.1312150955200195,
                    "z": 0.00515028927475214
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3515568673610687,
        "expert_target_speed": 10.0,
        "target_point": [
            20.144068272065915,
            0.8930800605803977
        ],
        "target_point_next": [
            31.13898615189601,
            1.2267898123145522
        ]
    },
    "680": {
        "acceleration": [
            -0.16743174195289612,
            -0.01096097007393837,
            -0.007711600046604872
        ],
        "angular_velocity": [
            -0.018153980374336243,
            0.029957884922623634,
            0.010409781709313393
        ],
        "forward_vector": [
            -0.9993373155593872,
            0.03623281419277191,
            0.0034807848278433084
        ],
        "right_vector": [
            -0.03623253479599953,
            -0.9993433952331543,
            0.00014380982611328363
        ],
        "location": [
            -166.16671752929688,
            4292.37939453125,
            373.0543518066406
        ],
        "rotation": [
            -0.00823974609375,
            0.19943468272686005,
            177.92355346679688
        ],
        "velocity": [
            -0.021875113248825073,
            0.00038772105472162366,
            0.0010593986371532083
        ],
        "speed": 0.02187854902102049,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.35646438598633,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.4826915503363125e-05,
                3.15377360493585e-06,
                0.001461906242184341
            ],
            "speed_kmh": 0.005263145389845213,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.489171981811523,
                "transform": {
                    "location": {
                        "x": -174.48687744140625,
                        "y": 4327.73095703125,
                        "z": 373.12457275390625
                    },
                    "rotation": {
                        "roll": 0.002240570029243827,
                        "pitch": 0.15237468481063843,
                        "yaw": -89.95967864990234
                    }
                },
                "velocity": {
                    "x": 6.796656816732138e-05,
                    "y": -5.489171504974365,
                    "z": -0.002405576640740037
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008490558830089867,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 2.089649387926329e-05,
                    "y": -2.5606555936974473e-05,
                    "z": 0.0008484123391099274
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005915626534260809,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15251275897026062
                    }
                },
                "velocity": {
                    "x": 3.2393261335528223e-06,
                    "y": -4.801030081580393e-05,
                    "z": 0.0005896023358218372
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.424675464630127,
                "transform": {
                    "location": {
                        "x": -174.495849609375,
                        "y": 4311.7421875,
                        "z": 373.1048278808594
                    },
                    "rotation": {
                        "roll": 0.0015794056234881282,
                        "pitch": -0.13680867850780487,
                        "yaw": -90.05081939697266
                    }
                },
                "velocity": {
                    "x": -0.005371700040996075,
                    "y": -4.424668312072754,
                    "z": -0.005837535951286554
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008397651254199445,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 5.5228915698535275e-06,
                    "y": 4.0253544284496456e-05,
                    "z": 0.0008387815905734897
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015481794252991676,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 2.0805708118132316e-05,
                    "y": -1.8407747120363638e-05,
                    "z": 0.0015479301800951362
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.19705723086372e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 7.239133083203342e-06,
                    "y": -2.7354980502991566e-08,
                    "z": 3.11401927319821e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.037632942199707,
                "transform": {
                    "location": {
                        "x": -187.5779571533203,
                        "y": 4295.35546875,
                        "z": 373.1306457519531
                    },
                    "rotation": {
                        "roll": 0.4163726568222046,
                        "pitch": 0.18895716965198517,
                        "yaw": -177.61766052246094
                    }
                },
                "velocity": {
                    "x": -8.034534454345703,
                    "y": -0.22161521017551422,
                    "z": 0.026335371658205986
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6141564846038818,
                "transform": {
                    "location": {
                        "x": -120.98695373535156,
                        "y": 4294.9775390625,
                        "z": 372.8794860839844
                    },
                    "rotation": {
                        "roll": -0.0004882811044808477,
                        "pitch": 0.2630852162837982,
                        "yaw": 179.40383911132812
                    }
                },
                "velocity": {
                    "x": -1.6141283512115479,
                    "y": 0.007722117006778717,
                    "z": 0.005579290445894003
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0014619848225265741,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.4826915503363125e-05,
                    "y": 3.15377360493585e-06,
                    "z": 0.001461906242184341
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007752890232950449,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.28997802734375
                    },
                    "rotation": {
                        "roll": 0.0009425318567082286,
                        "pitch": 0.2212434709072113,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 3.923662006855011e-06,
                    "y": -4.723475285572931e-06,
                    "z": -0.0007752646924927831
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000841517758090049,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.0016721589490771294,
                        "pitch": 0.22181038558483124,
                        "yaw": 179.66172790527344
                    }
                },
                "velocity": {
                    "x": 8.045136382861529e-06,
                    "y": 2.7487811166793108e-05,
                    "z": 0.0008410302107222378
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003909678489435464,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 7.169879609136842e-06,
                    "y": 5.815108124807011e-06,
                    "z": 0.00039085885509848595
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.2266595363616943,
                "transform": {
                    "location": {
                        "x": -110.25249481201172,
                        "y": 4294.927734375,
                        "z": 372.8370361328125
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.26112493872642517,
                        "yaw": 179.2244110107422
                    }
                },
                "velocity": {
                    "x": -2.2266082763671875,
                    "y": 0.011280760169029236,
                    "z": 0.010037011466920376
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005719800828956068,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.1819340215879492e-05,
                    "y": 2.0617328118532896e-05,
                    "z": 0.000571486190892756
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.21804194152355194,
                "transform": {
                    "location": {
                        "x": -131.27256774902344,
                        "y": 4295.0517578125,
                        "z": 372.9358825683594
                    },
                    "rotation": {
                        "roll": -0.009460448287427425,
                        "pitch": 0.11010947078466415,
                        "yaw": -179.57435607910156
                    }
                },
                "velocity": {
                    "x": -0.21797598898410797,
                    "y": 0.005129306577146053,
                    "z": 0.0015642928192391992
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0013247733004391193,
                "transform": {
                    "location": {
                        "x": -141.57765197753906,
                        "y": 4295.10009765625,
                        "z": 372.9637451171875
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": 0.18595871329307556,
                        "yaw": 179.52845764160156
                    }
                },
                "velocity": {
                    "x": 8.84572000359185e-05,
                    "y": 8.811117004370317e-05,
                    "z": 0.0013188767479732633
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00011184460890945047,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.25872802734375
                    },
                    "rotation": {
                        "roll": 0.0002032203192356974,
                        "pitch": -0.22619536519050598,
                        "yaw": -0.2889098525047302
                    }
                },
                "velocity": {
                    "x": -2.2900439944351092e-05,
                    "y": -1.0758170901681297e-05,
                    "z": -0.00010894516162807122
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.640716075897217,
                "transform": {
                    "location": {
                        "x": -174.52304077148438,
                        "y": 4344.251953125,
                        "z": 373.1203308105469
                    },
                    "rotation": {
                        "roll": -0.0005187984206713736,
                        "pitch": 0.027348075062036514,
                        "yaw": -89.49493408203125
                    }
                },
                "velocity": {
                    "x": 0.05303451791405678,
                    "y": -5.640466213226318,
                    "z": 0.0018373775528743863
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3502431809902191,
        "expert_target_speed": 10.0,
        "target_point": [
            20.13926342726642,
            0.8919052822717406
        ],
        "target_point_next": [
            31.134197842598557,
            1.2250697839145412
        ]
    },
    "685": {
        "acceleration": [
            0.21748916804790497,
            0.010076315142214298,
            -0.007683562580496073
        ],
        "angular_velocity": [
            0.026170281693339348,
            -0.04472862556576729,
            -0.015434247441589832
        ],
        "forward_vector": [
            -0.9993376731872559,
            0.036223046481609344,
            0.0034688638988882303
        ],
        "right_vector": [
            -0.03622284159064293,
            -0.9993436932563782,
            0.00012250467261765152
        ],
        "location": [
            -166.17140197753906,
            4292.37939453125,
            373.0544128417969
        ],
        "rotation": [
            -0.00701904296875,
            0.19875165820121765,
            177.92410278320312
        ],
        "velocity": [
            -0.01299589965492487,
            0.0007656647940166295,
            0.0012976169819012284
        ],
        "speed": 0.01301843502183242,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.35177993774414,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0319575267203618e-05,
                -6.899391792103415e-06,
                0.000268868199782446
            ],
            "speed_kmh": 0.0009689565960722103,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.394730567932129,
                "transform": {
                    "location": {
                        "x": -174.48695373535156,
                        "y": 4326.298828125,
                        "z": 373.1236877441406
                    },
                    "rotation": {
                        "roll": 0.001083788345567882,
                        "pitch": 0.13101668655872345,
                        "yaw": -89.98253631591797
                    }
                },
                "velocity": {
                    "x": -0.0010211679618805647,
                    "y": -6.394730091094971,
                    "z": -0.0024809837341308594
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011168511118739843,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": -1.704692840576172e-05,
                    "y": -4.930027716909535e-05,
                    "z": 0.0011156322434544563
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00021536581334657967,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15251275897026062
                    }
                },
                "velocity": {
                    "x": 9.832084288063925e-06,
                    "y": 2.93940274787019e-06,
                    "z": 0.0002151211810996756
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.267998695373535,
                "transform": {
                    "location": {
                        "x": -174.49749755859375,
                        "y": 4310.65771484375,
                        "z": 373.1034240722656
                    },
                    "rotation": {
                        "roll": 0.0005509791662916541,
                        "pitch": -0.1435842216014862,
                        "yaw": -90.05181121826172
                    }
                },
                "velocity": {
                    "x": -0.00393142644315958,
                    "y": -4.267992973327637,
                    "z": -0.006004876922816038
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009733569459058344,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 3.2753720006439835e-05,
                    "y": -1.6186617358471267e-05,
                    "z": 0.0009726710268296301
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003198358463123441,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": -2.7408823370933533e-06,
                    "y": 4.46672311227303e-05,
                    "z": 0.00031668960582464933
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.6954460887936875e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.024278718541609e-06,
                    "y": -5.61313299840549e-07,
                    "z": 5.6632179621374235e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041092872619629,
                "transform": {
                    "location": {
                        "x": -189.5859375,
                        "y": 4295.33740234375,
                        "z": 373.1374816894531
                    },
                    "rotation": {
                        "roll": 0.19434407353401184,
                        "pitch": 0.19705094397068024,
                        "yaw": -179.83053588867188
                    }
                },
                "velocity": {
                    "x": -8.04103946685791,
                    "y": 0.011833920143544674,
                    "z": 0.026935605332255363
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014763271901756525,
                "transform": {
                    "location": {
                        "x": -121.3246078491211,
                        "y": 4294.978515625,
                        "z": 372.8814392089844
                    },
                    "rotation": {
                        "roll": -0.00024414055224042386,
                        "pitch": 0.13902848958969116,
                        "yaw": 179.2713165283203
                    }
                },
                "velocity": {
                    "x": -0.0003317302034702152,
                    "y": -0.0002512353821657598,
                    "z": -0.0014164666645228863
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00026915461057797074,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0319575267203618e-05,
                    "y": -6.899391792103415e-06,
                    "z": 0.000268868199782446
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012357571395114064,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 3.3728776998032117e-06,
                    "y": 9.357579983770847e-06,
                    "z": -0.001235717092640698
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001400077308062464,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.0016721589490771294,
                        "pitch": 0.22181038558483124,
                        "yaw": 179.66172790527344
                    }
                },
                "velocity": {
                    "x": 1.309644358116202e-05,
                    "y": 7.074349355207232e-07,
                    "z": 0.00013939206837676466
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006949414382688701,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.742716813168954e-05,
                    "y": -8.709113899385557e-05,
                    "z": 0.0006892423843964934
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.0667359828948975,
                "transform": {
                    "location": {
                        "x": -110.6742172241211,
                        "y": 4294.92724609375,
                        "z": 372.83880615234375
                    },
                    "rotation": {
                        "roll": -0.0024719235952943563,
                        "pitch": 0.24842078983783722,
                        "yaw": 179.0379638671875
                    }
                },
                "velocity": {
                    "x": -2.066711187362671,
                    "y": 0.006854010745882988,
                    "z": 0.007428293116390705
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004424958606250584,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 8.65362562763039e-06,
                    "y": -1.2963053450221196e-05,
                    "z": 0.0004422212950885296
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0006552301929332316,
                "transform": {
                    "location": {
                        "x": -131.35867309570312,
                        "y": 4295.052734375,
                        "z": 372.93682861328125
                    },
                    "rotation": {
                        "roll": -3.051757266803179e-05,
                        "pitch": 0.05458686873316765,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": -0.0005323596415109932,
                    "y": 5.2605377277359366e-05,
                    "z": -0.0003783550055231899
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.616002014605328e-05,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635314941406
                    },
                    "rotation": {
                        "roll": 0.00029765040380880237,
                        "pitch": 0.20724841952323914,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 1.9707977116922848e-05,
                    "y": 8.128816989483312e-05,
                    "z": 2.0673116523539647e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0465584637131542e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 7.2546672527096234e-06,
                    "y": -1.4330507269733062e-07,
                    "z": 7.541732884419616e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.375227928161621,
                "transform": {
                    "location": {
                        "x": -174.51194763183594,
                        "y": 4342.7529296875,
                        "z": 373.1206970214844
                    },
                    "rotation": {
                        "roll": 0.0009001310681924224,
                        "pitch": 0.03135056793689728,
                        "yaw": -89.58021545410156
                    }
                },
                "velocity": {
                    "x": 0.03428865969181061,
                    "y": -6.37513542175293,
                    "z": 0.0013970088912174106
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3533867299556732,
        "expert_target_speed": 10.0,
        "target_point": [
            20.134590558251933,
            0.8915435339977508
        ],
        "target_point_next": [
            31.129528150388357,
            1.2246031797597776
        ]
    },
    "690": {
        "acceleration": [
            -0.25319457054138184,
            -0.009024860337376595,
            0.0019277562387287617
        ],
        "angular_velocity": [
            -0.03696097433567047,
            0.05462520942091942,
            0.05240160599350929
        ],
        "forward_vector": [
            -0.9993396401405334,
            0.03616943955421448,
            0.0034774469677358866
        ],
        "right_vector": [
            -0.03616922348737717,
            -0.9993456602096558,
            0.0001246351603185758
        ],
        "location": [
            -166.17633056640625,
            4292.37939453125,
            373.0544128417969
        ],
        "rotation": [
            -0.007141112349927425,
            0.1992434412240982,
            177.92718505859375
        ],
        "velocity": [
            -0.025107499212026596,
            0.0002941959537565708,
            0.0016557215712964535
        ],
        "speed": 0.025109222766567723,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.34685134887695,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.3645514627569355e-05,
                -8.883972668627393e-07,
                0.0011654661502689123
            ],
            "speed_kmh": 0.004195966926010457,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.932506561279297,
                "transform": {
                    "location": {
                        "x": -174.48695373535156,
                        "y": 4324.529296875,
                        "z": 373.12261962890625
                    },
                    "rotation": {
                        "roll": 0.0005300337797962129,
                        "pitch": 0.07768657058477402,
                        "yaw": -89.98863220214844
                    }
                },
                "velocity": {
                    "x": -0.0020331190899014473,
                    "y": -6.932504177093506,
                    "z": -0.005678405519574881
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014311535051092505,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 1.2518614312284626e-05,
                    "y": -2.1158928575459868e-05,
                    "z": 0.0014309423277154565
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.511241786531173e-05,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15251275897026062
                    }
                },
                "velocity": {
                    "x": 7.459111202479107e-06,
                    "y": -2.9450353622451075e-07,
                    "z": 4.4490509026218206e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.1228461265563965,
                "transform": {
                    "location": {
                        "x": -174.49867248535156,
                        "y": 4309.60888671875,
                        "z": 373.1020202636719
                    },
                    "rotation": {
                        "roll": 3.070259845117107e-05,
                        "pitch": -0.14455410838127136,
                        "yaw": -90.05486297607422
                    }
                },
                "velocity": {
                    "x": -0.0037673665210604668,
                    "y": -4.12283992767334,
                    "z": -0.006292924750596285
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010896605672314763,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21044921875
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.0657043382525444
                    }
                },
                "velocity": {
                    "x": 1.860737756942399e-05,
                    "y": -3.85645471396856e-05,
                    "z": 0.0010888190008699894
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001311160740442574,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 1.106206309486879e-05,
                    "y": 5.1828037612722255e-06,
                    "z": 0.0013111038133502007
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00029300551977939904,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.150081389932893e-06,
                    "y": -2.190425902881543e-06,
                    "z": 0.00029293278930708766
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056586265563965,
                "transform": {
                    "location": {
                        "x": -191.59898376464844,
                        "y": 4295.3505859375,
                        "z": 373.1444396972656
                    },
                    "rotation": {
                        "roll": 0.07573693990707397,
                        "pitch": 0.20183208584785461,
                        "yaw": 179.51255798339844
                    }
                },
                "velocity": {
                    "x": -8.056159973144531,
                    "y": 0.07768958806991577,
                    "z": 0.028859680518507957
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006198699120432138,
                "transform": {
                    "location": {
                        "x": -121.32499694824219,
                        "y": 4294.978515625,
                        "z": 372.88104248046875
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.19070570170879364,
                        "yaw": 179.2713165283203
                    }
                },
                "velocity": {
                    "x": 0.0001442052744096145,
                    "y": 0.00016167949070222676,
                    "z": 0.0005807781708426774
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001165546360425651,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.3645514627569355e-05,
                    "y": -8.883972668627393e-07,
                    "z": 0.0011654661502689123
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.244157753419131e-05,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 9.004808816825971e-06,
                    "y": -9.703368959890213e-06,
                    "z": -4.03242556785699e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5288947224617004,
                "transform": {
                    "location": {
                        "x": -221.10804748535156,
                        "y": 4295.67333984375,
                        "z": 373.2886657714844
                    },
                    "rotation": {
                        "roll": -0.0013427730882540345,
                        "pitch": 0.2581538259983063,
                        "yaw": 179.6693878173828
                    }
                },
                "velocity": {
                    "x": -0.5288808941841125,
                    "y": -0.002460155403241515,
                    "z": 0.002925815526396036
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004499653005041182,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 2.7760863304138184e-05,
                    "y": 3.4501539630582556e-05,
                    "z": 0.00044778091250918806
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.181986689567566,
                "transform": {
                    "location": {
                        "x": -110.9320297241211,
                        "y": 4294.92626953125,
                        "z": 372.8399658203125
                    },
                    "rotation": {
                        "roll": -0.0018920894945040345,
                        "pitch": 0.20407238602638245,
                        "yaw": 178.84776306152344
                    }
                },
                "velocity": {
                    "x": -1.1819182634353638,
                    "y": 0.008113086223602295,
                    "z": 0.009788150899112225
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010417401790618896,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.2068077239746344e-06,
                    "y": 2.7588626835495234e-05,
                    "z": 0.001041374052874744
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0017807382391765714,
                "transform": {
                    "location": {
                        "x": -131.35984802246094,
                        "y": 4295.052734375,
                        "z": 372.93585205078125
                    },
                    "rotation": {
                        "roll": 0.0029088431037962437,
                        "pitch": 0.17350728809833527,
                        "yaw": -179.50025939941406
                    }
                },
                "velocity": {
                    "x": 0.0012367197778075933,
                    "y": -6.623955414397642e-05,
                    "z": -0.0012795175425708294
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00011246705253142864,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 8.54026529850671e-06,
                    "y": -3.977404776378535e-05,
                    "z": -0.00010485192615306005
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.0605412980075926e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 5.0580501920194365e-06,
                    "y": -1.3368986401474103e-05,
                    "z": 4.854476355831139e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.460334300994873,
                "transform": {
                    "location": {
                        "x": -174.50320434570312,
                        "y": 4341.00537109375,
                        "z": 373.1208801269531
                    },
                    "rotation": {
                        "roll": 0.0005916218506172299,
                        "pitch": 0.03170573711395264,
                        "yaw": -89.69310760498047
                    }
                },
                "velocity": {
                    "x": 0.031370602548122406,
                    "y": -7.460268497467041,
                    "z": 0.0012991619296371937
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3530711233615875,
        "expert_target_speed": 10.0,
        "target_point": [
            20.12971320372074,
            0.8902803652470112
        ],
        "target_point_next": [
            31.124668726015464,
            1.2227475747138785
        ]
    },
    "695": {
        "acceleration": [
            0.21167762577533722,
            0.01384255662560463,
            0.008090399205684662
        ],
        "angular_velocity": [
            0.006633150391280651,
            -0.03926829993724823,
            0.0020896343048661947
        ],
        "forward_vector": [
            -0.9993399977684021,
            0.03615943342447281,
            0.003475658828392625
        ],
        "right_vector": [
            -0.036159154027700424,
            -0.9993460178375244,
            0.00014221192395780236
        ],
        "location": [
            -166.18116760253906,
            4292.37939453125,
            373.054443359375
        ],
        "rotation": [
            -0.008148192428052425,
            0.1991409808397293,
            177.92774963378906
        ],
        "velocity": [
            -0.015672441571950912,
            0.0009201206848956645,
            0.0020111845806241035
        ],
        "speed": 0.015699428234843077,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.34201431274414,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1268034540989902e-05,
                1.3625586689158808e-05,
                0.0005387282581068575
            ],
            "speed_kmh": 0.0019404659920804206,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.1654179096221924,
                "transform": {
                    "location": {
                        "x": -174.48678588867188,
                        "y": 4323.1171875,
                        "z": 373.1211242675781
                    },
                    "rotation": {
                        "roll": -0.0005798253696411848,
                        "pitch": -0.6115682721138,
                        "yaw": -90.2223129272461
                    }
                },
                "velocity": {
                    "x": 0.005604567937552929,
                    "y": -3.16540789604187,
                    "z": -0.005641946569085121
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00013531024160329252,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": -3.429375647101551e-05,
                    "y": 5.842153768753633e-06,
                    "z": 0.00013076188042759895
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00031659225351177156,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15251275897026062
                    }
                },
                "velocity": {
                    "x": 1.2141391380282585e-05,
                    "y": -7.132633982109837e-06,
                    "z": 0.00031627892167307436
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.098923206329346,
                "transform": {
                    "location": {
                        "x": -174.49945068359375,
                        "y": 4308.591796875,
                        "z": 373.1005859375
                    },
                    "rotation": {
                        "roll": 0.00556525681167841,
                        "pitch": -0.1266726851463318,
                        "yaw": -90.06990814208984
                    }
                },
                "velocity": {
                    "x": -0.009292593225836754,
                    "y": -4.098908424377441,
                    "z": -0.005876875016838312
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003926797944586724,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 1.159459316113498e-05,
                    "y": -3.0041403078939766e-05,
                    "z": 0.0003913572581950575
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010359735460951924,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 3.3514443202875555e-05,
                    "y": -6.805218436056748e-05,
                    "z": 0.0010331925004720688
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00013674846559297293,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.061568910809001e-06,
                    "y": -3.1044612569530727e-06,
                    "z": 0.00013657877570949495
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.522706031799316,
                "transform": {
                    "location": {
                        "x": -193.65093994140625,
                        "y": 4295.373046875,
                        "z": 373.15179443359375
                    },
                    "rotation": {
                        "roll": 0.026290062814950943,
                        "pitch": 0.2619923949241638,
                        "yaw": 179.35659790039062
                    }
                },
                "velocity": {
                    "x": -8.522046089172363,
                    "y": 0.10181156545877457,
                    "z": 0.0297807976603508
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011443496914580464,
                "transform": {
                    "location": {
                        "x": -121.32515716552734,
                        "y": 4294.978515625,
                        "z": 372.880859375
                    },
                    "rotation": {
                        "roll": -0.0018615720327943563,
                        "pitch": 0.2156836986541748,
                        "yaw": 179.2713165283203
                    }
                },
                "velocity": {
                    "x": 4.975110277882777e-05,
                    "y": 0.00010442389611853287,
                    "z": 0.0011384887620806694
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005390183650888503,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1268034540989902e-05,
                    "y": 1.3625586689158808e-05,
                    "z": 0.0005387282581068575
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00037292204797267914,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 1.0573044164630119e-05,
                    "y": 7.106291377567686e-06,
                    "z": 0.0003727043804246932
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.5172992944717407,
                "transform": {
                    "location": {
                        "x": -221.38812255859375,
                        "y": 4295.6728515625,
                        "z": 373.28924560546875
                    },
                    "rotation": {
                        "roll": -0.0021667478140443563,
                        "pitch": 0.31897664070129395,
                        "yaw": 179.80076599121094
                    }
                },
                "velocity": {
                    "x": -1.517261028289795,
                    "y": -0.00923932809382677,
                    "z": 0.005530157126486301
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00019458943279460073,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 2.4137048967531882e-05,
                    "y": -4.5244563807500526e-05,
                    "z": 0.000187710887985304
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.197399616241455,
                "transform": {
                    "location": {
                        "x": -111.33030700683594,
                        "y": 4294.9306640625,
                        "z": 372.8414001464844
                    },
                    "rotation": {
                        "roll": -0.0036010744515806437,
                        "pitch": 0.2491106390953064,
                        "yaw": 179.118408203125
                    }
                },
                "velocity": {
                    "x": -1.1973726749420166,
                    "y": 0.006876463070511818,
                    "z": 0.004145069047808647
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00043533966527320445,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 4.0798631744110025e-06,
                    "y": -4.739003543363651e-06,
                    "z": 0.0004352947580628097
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001831282046623528,
                "transform": {
                    "location": {
                        "x": -131.36062622070312,
                        "y": 4295.052734375,
                        "z": 372.9352111816406
                    },
                    "rotation": {
                        "roll": 0.004414207302033901,
                        "pitch": 0.24751920998096466,
                        "yaw": -179.50025939941406
                    }
                },
                "velocity": {
                    "x": 7.508911221520975e-05,
                    "y": -8.407870154769626e-06,
                    "z": -0.0018297226633876562
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.95897802466061e-05,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 7.833130439394154e-06,
                    "y": -3.3625167361606145e-06,
                    "z": -4.885163070866838e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.7171753976726905e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 7.666871169931255e-06,
                    "y": -1.5894256648607552e-06,
                    "z": 4.651738709071651e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.373150825500488,
                "transform": {
                    "location": {
                        "x": -174.49476623535156,
                        "y": 4339.1044921875,
                        "z": 373.12127685546875
                    },
                    "rotation": {
                        "roll": 0.0006214156746864319,
                        "pitch": 0.0035653584636747837,
                        "yaw": -89.77091979980469
                    }
                },
                "velocity": {
                    "x": 0.027191121131181717,
                    "y": -7.373100280761719,
                    "z": 0.0015897846315056086
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.35428375005722046,
        "expert_target_speed": 10.0,
        "target_point": [
            20.12488824469819,
            0.8899038911105271
        ],
        "target_point_next": [
            31.119847095628778,
            1.2222610016904658
        ]
    },
    "700": {
        "acceleration": [
            -0.24252735078334808,
            -0.008139564655721188,
            0.004326058551669121
        ],
        "angular_velocity": [
            -0.009180339053273201,
            0.04823538661003113,
            0.02556033432483673
        ],
        "forward_vector": [
            -0.9993424415588379,
            0.036091048270463943,
            0.0034816195257008076
        ],
        "right_vector": [
            -0.03609083220362663,
            -0.999348521232605,
            0.0001251678040716797
        ],
        "location": [
            -166.18609619140625,
            4292.37939453125,
            373.054443359375
        ],
        "rotation": [
            -0.007171629928052425,
            0.1994825005531311,
            177.93167114257812
        ],
        "velocity": [
            -0.02618442475795746,
            0.0002722930512391031,
            0.0013673400972038507
        ],
        "speed": 0.026185840513737357,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.33708572387695,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.087472790270112e-06,
                6.500607923953794e-06,
                0.0003783676365856081
            ],
            "speed_kmh": 0.0013627172611759707,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9200279712677002,
                "transform": {
                    "location": {
                        "x": -174.48648071289062,
                        "y": 4322.88671875,
                        "z": 373.1208801269531
                    },
                    "rotation": {
                        "roll": 0.006813239771872759,
                        "pitch": -0.572383463382721,
                        "yaw": -90.23904418945312
                    }
                },
                "velocity": {
                    "x": -0.0031134511809796095,
                    "y": -0.9200222492218018,
                    "z": 0.0009593486320227385
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006006800103932619,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 4.213042302581016e-06,
                    "y": 3.0645168180853943e-08,
                    "z": 0.0006006652256473899
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00024111857055686414,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15251275897026062
                    }
                },
                "velocity": {
                    "x": -1.5176646229519974e-05,
                    "y": -2.1445115635287948e-05,
                    "z": 0.0002396829950157553
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.1581501960754395,
                "transform": {
                    "location": {
                        "x": -174.50210571289062,
                        "y": 4307.43896484375,
                        "z": 373.0979919433594
                    },
                    "rotation": {
                        "roll": 0.0049010892398655415,
                        "pitch": 0.17249642312526703,
                        "yaw": -90.10992431640625
                    }
                },
                "velocity": {
                    "x": -0.013634514063596725,
                    "y": -5.1581315994262695,
                    "z": -0.002894506324082613
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000281547661870718,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": -1.2668222098000115e-06,
                    "y": 2.419000884401612e-05,
                    "z": -0.00028050370747223496
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012671609874814749,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 5.261189926386578e-06,
                    "y": 2.9786930099362507e-05,
                    "z": 0.0012667999835684896
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00015696902119088918,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 7.666982128284872e-06,
                    "y": -6.39095674159762e-07,
                    "z": 0.00015678037016186863
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.638017654418945,
                "transform": {
                    "location": {
                        "x": -195.92210388183594,
                        "y": 4295.39892578125,
                        "z": 373.159912109375
                    },
                    "rotation": {
                        "roll": -0.0002441407414153218,
                        "pitch": 0.3573213219642639,
                        "yaw": 179.3725128173828
                    }
                },
                "velocity": {
                    "x": -9.637439727783203,
                    "y": 0.0998442992568016,
                    "z": 0.03411882370710373
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.33623042702674866,
                "transform": {
                    "location": {
                        "x": -121.34983825683594,
                        "y": 4294.978515625,
                        "z": 372.8808898925781
                    },
                    "rotation": {
                        "roll": -0.002593993442133069,
                        "pitch": 0.2403065264225006,
                        "yaw": 179.28427124023438
                    }
                },
                "velocity": {
                    "x": -0.3362061679363251,
                    "y": 0.0032334779389202595,
                    "z": 0.0024221420753747225
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00037853256799280643,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.087472790270112e-06,
                    "y": 6.500607923953794e-06,
                    "z": 0.0003783676365856081
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005950052291154861,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 8.929930118029006e-06,
                    "y": -2.610033789096633e-06,
                    "z": -0.0005949325277470052
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.49836802482605,
                "transform": {
                    "location": {
                        "x": -221.8835906982422,
                        "y": 4295.67041015625,
                        "z": 373.29107666015625
                    },
                    "rotation": {
                        "roll": -0.0018005366437137127,
                        "pitch": 0.3257521986961365,
                        "yaw": 179.9359588623047
                    }
                },
                "velocity": {
                    "x": -2.4982919692993164,
                    "y": -0.01681041717529297,
                    "z": 0.009842748753726482
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.194022277370095e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.0952055163215846e-05,
                    "y": -2.9087530606375367e-07,
                    "z": 9.128511737799272e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00048516911920160055,
                "transform": {
                    "location": {
                        "x": -111.35140228271484,
                        "y": 4294.9306640625,
                        "z": 372.8417053222656
                    },
                    "rotation": {
                        "roll": -0.0014343262882903218,
                        "pitch": 0.17463426291942596,
                        "yaw": 179.13699340820312
                    }
                },
                "velocity": {
                    "x": 0.00019691082707140595,
                    "y": -2.582205706858076e-05,
                    "z": 0.000442660617409274
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009047492640092969,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.1654272384475917e-05,
                    "y": 1.4689773706777487e-05,
                    "z": 0.0009045549086295068
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001600105460966006,
                "transform": {
                    "location": {
                        "x": -131.3605499267578,
                        "y": 4295.052734375,
                        "z": 372.9352722167969
                    },
                    "rotation": {
                        "roll": 0.004242481663823128,
                        "pitch": 0.23756763339042664,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": -0.0001493681047577411,
                    "y": -2.495560511306394e-05,
                    "z": 5.166973642189987e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003774099750444293,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 7.638185707037337e-06,
                    "y": -5.72510862184572e-06,
                    "z": 0.0003772892232518643
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00020615341782104224,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 8.386597073695157e-06,
                    "y": -9.118963362197974e-07,
                    "z": 0.00020598074479494244
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.119730472564697,
                "transform": {
                    "location": {
                        "x": -174.48960876464844,
                        "y": 4337.40283203125,
                        "z": 373.1215515136719
                    },
                    "rotation": {
                        "roll": 0.001336771179921925,
                        "pitch": -0.024718454107642174,
                        "yaw": -89.83885955810547
                    }
                },
                "velocity": {
                    "x": 0.011100630275905132,
                    "y": -6.119720458984375,
                    "z": 0.0008733272552490234
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3535095453262329,
        "expert_target_speed": 10.0,
        "target_point": [
            20.12002350051341,
            0.8883537407063762
        ],
        "target_point_next": [
            31.11500498855457,
            1.2199611294088135
        ]
    },
    "705": {
        "acceleration": [
            0.17855453491210938,
            0.01617368683218956,
            0.0010055536404252052
        ],
        "angular_velocity": [
            -0.0098107373341918,
            -0.0351097509264946,
            -0.0044721863232553005
        ],
        "forward_vector": [
            -0.9993428587913513,
            0.03608056902885437,
            0.003470771247521043
        ],
        "right_vector": [
            -0.036080338060855865,
            -0.9993488788604736,
            0.00012889623758383095
        ],
        "location": [
            -166.191162109375,
            4292.37939453125,
            373.054443359375
        ],
        "rotation": [
            -0.007385254371911287,
            0.19886094331741333,
            177.93228149414062
        ],
        "velocity": [
            -0.018992086872458458,
            0.0011030214373022318,
            0.0013659476535394788
        ],
        "speed": 0.01902409051865968,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.3320198059082,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2214444723213091e-05,
                -6.019227839715313e-06,
                0.0013563144020736217
            ],
            "speed_kmh": 0.004882977921947495,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.441720485687256,
                "transform": {
                    "location": {
                        "x": -174.4875030517578,
                        "y": 4322.44677734375,
                        "z": 373.1208801269531
                    },
                    "rotation": {
                        "roll": -0.0005798363708890975,
                        "pitch": 0.08580083400011063,
                        "yaw": -90.22242736816406
                    }
                },
                "velocity": {
                    "x": -0.005369743797928095,
                    "y": -2.441713809967041,
                    "z": -0.0019168662838637829
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00036662982893176377,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": -2.2187605281942524e-05,
                    "y": -2.6628509658621624e-05,
                    "z": 0.0003649877617135644
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003312175686005503,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15251275897026062
                    }
                },
                "velocity": {
                    "x": 1.1490173164929729e-05,
                    "y": 1.0835677130671684e-05,
                    "z": 0.0003308408195152879
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.420817852020264,
                "transform": {
                    "location": {
                        "x": -174.5057830810547,
                        "y": 4306.09228515625,
                        "z": 373.0964050292969
                    },
                    "rotation": {
                        "roll": 0.0030269422568380833,
                        "pitch": 0.1312420815229416,
                        "yaw": -90.1377182006836
                    }
                },
                "velocity": {
                    "x": -0.014520632103085518,
                    "y": -5.4207940101623535,
                    "z": -0.006899137515574694
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004640059487428516,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 4.091896244062809e-06,
                    "y": 3.494801831038785e-06,
                    "z": 0.000463974749436602
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008965946617536247,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": -1.2405588449837524e-06,
                    "y": 4.512779923970811e-05,
                    "z": 0.0008954574004746974
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.636059646960348e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.8930908128095325e-06,
                    "y": 1.3885984117223416e-05,
                    "z": 8.495774090988562e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.675861358642578,
                "transform": {
                    "location": {
                        "x": -198.48695373535156,
                        "y": 4295.42431640625,
                        "z": 373.1691589355469
                    },
                    "rotation": {
                        "roll": -0.005187986418604851,
                        "pitch": 0.3769376277923584,
                        "yaw": 179.48524475097656
                    }
                },
                "velocity": {
                    "x": -10.675349235534668,
                    "y": 0.09766338765621185,
                    "z": 0.037250880151987076
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2340744733810425,
                "transform": {
                    "location": {
                        "x": -121.5589828491211,
                        "y": 4294.97998046875,
                        "z": 372.8817138671875
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": 0.2772441804409027,
                        "yaw": 179.30694580078125
                    }
                },
                "velocity": {
                    "x": -1.2340238094329834,
                    "y": 0.008760937489569187,
                    "z": 0.0069589135237038136
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013563827378675342,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2214444723213091e-05,
                    "y": -6.019227839715313e-06,
                    "z": 0.0013563144020736217
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004670778289437294,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 7.041878689051373e-06,
                    "y": -4.045619334647199e-06,
                    "z": -0.00046700722305104136
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.8605451583862305,
                "transform": {
                    "location": {
                        "x": -222.6796112060547,
                        "y": 4295.6669921875,
                        "z": 373.29388427734375
                    },
                    "rotation": {
                        "roll": -0.0011291502742096782,
                        "pitch": 0.36115989089012146,
                        "yaw": -179.9073028564453
                    }
                },
                "velocity": {
                    "x": -3.8604304790496826,
                    "y": -0.02590825781226158,
                    "z": 0.014622840099036694
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00012874083768110722,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 2.1340474631870165e-05,
                    "y": -5.9632202464854345e-05,
                    "z": 0.00011208385694772005
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016518653137609363,
                "transform": {
                    "location": {
                        "x": -111.35171508789062,
                        "y": 4294.9306640625,
                        "z": 372.8414306640625
                    },
                    "rotation": {
                        "roll": -0.0022583005484193563,
                        "pitch": 0.21181099116802216,
                        "yaw": 179.13699340820312
                    }
                },
                "velocity": {
                    "x": 3.323495184304193e-05,
                    "y": -9.73315422925225e-07,
                    "z": 0.0016515306197106838
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00045304957893677056,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": -3.3996252568613272e-06,
                    "y": -1.9499368590913946e-06,
                    "z": 0.0004530326114036143
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002464585122652352,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353942871094
                    },
                    "rotation": {
                        "roll": 0.004041512031108141,
                        "pitch": 0.22500690817832947,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": -1.9063762010773644e-05,
                    "y": -1.6659059838275425e-05,
                    "z": 0.0002451547479722649
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00024622611817903817,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 5.592889920080779e-06,
                    "y": -7.650064617337193e-06,
                    "z": 0.00024604369536973536
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00012385626905597746,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 1.5798806998645887e-05,
                    "y": 1.528135544504039e-05,
                    "z": 0.00012189033441245556
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.8427766561508179,
                "transform": {
                    "location": {
                        "x": -174.48812866210938,
                        "y": 4336.56103515625,
                        "z": 373.1219482421875
                    },
                    "rotation": {
                        "roll": -0.0007019098848104477,
                        "pitch": -0.10791015625,
                        "yaw": -89.84166717529297
                    }
                },
                "velocity": {
                    "x": 0.001549802953377366,
                    "y": -0.842773973941803,
                    "z": -0.0014593314845114946
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3527964949607849,
        "expert_target_speed": 0,
        "target_point": [
            20.114970199147578,
            0.8879598917411138
        ],
        "target_point_next": [
            31.109955165283697,
            1.2194519384793072
        ]
    },
    "710": {
        "acceleration": [
            -0.2478095144033432,
            -0.012281318195164204,
            0.003774643409997225
        ],
        "angular_velocity": [
            -0.009649025276303291,
            0.04936020076274872,
            0.025196218863129616
        ],
        "forward_vector": [
            -0.9993438720703125,
            0.036050304770469666,
            0.003479950362816453
        ],
        "right_vector": [
            -0.03605011850595474,
            -0.9993499517440796,
            0.00011717836605384946
        ],
        "location": [
            -166.19679260253906,
            4292.37939453125,
            373.0544738769531
        ],
        "rotation": [
            -0.006713866721838713,
            0.199386864900589,
            177.9340057373047
        ],
        "velocity": [
            -0.02817917801439762,
            0.0002988514315802604,
            0.0014916419750079513
        ],
        "speed": 0.028180762689204632,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.32638931274414,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.4156997167447116e-05,
                1.6992498785839416e-05,
                0.00047838265891186893
            ],
            "speed_kmh": 0.0017240171622552444,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.03366231918335,
                "transform": {
                    "location": {
                        "x": -174.4894561767578,
                        "y": 4321.62548828125,
                        "z": 373.12017822265625
                    },
                    "rotation": {
                        "roll": -0.0023193371016532183,
                        "pitch": 0.24370796978473663,
                        "yaw": -90.17284393310547
                    }
                },
                "velocity": {
                    "x": -0.006471144035458565,
                    "y": -4.033656120300293,
                    "z": -0.0029457949567586184
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007332557579502463,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 5.47617666768474e-08,
                    "y": 4.344386979937553e-06,
                    "z": 0.0007332428940571845
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00015548714145552367,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15251275897026062
                    }
                },
                "velocity": {
                    "x": 1.125335711549269e-05,
                    "y": 6.7088381001667585e-06,
                    "z": 0.00015493419778067619
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.1457905769348145,
                "transform": {
                    "location": {
                        "x": -174.5106964111328,
                        "y": 4304.5048828125,
                        "z": 373.0930480957031
                    },
                    "rotation": {
                        "roll": 0.01154310256242752,
                        "pitch": 0.4462708830833435,
                        "yaw": -90.19078826904297
                    }
                },
                "velocity": {
                    "x": -0.031941864639520645,
                    "y": -7.145711421966553,
                    "z": -0.010554828681051731
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004013761063106358,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 2.5232880034309346e-06,
                    "y": 1.6828447769512422e-05,
                    "z": -0.00040101524791680276
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007831173716112971,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 9.359605428471696e-06,
                    "y": -1.0926340792138944e-06,
                    "z": 0.0007830606773495674
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.805245069088414e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.034001671650913e-06,
                    "y": 1.5597173614878557e-06,
                    "z": 3.753860801225528e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.1993989944458,
                "transform": {
                    "location": {
                        "x": -201.2371063232422,
                        "y": 4295.447265625,
                        "z": 373.1789245605469
                    },
                    "rotation": {
                        "roll": -0.006866454612463713,
                        "pitch": 0.3240446448326111,
                        "yaw": 179.53656005859375
                    }
                },
                "velocity": {
                    "x": -11.198984146118164,
                    "y": 0.08737336844205856,
                    "z": 0.04067329317331314
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.5884147882461548,
                "transform": {
                    "location": {
                        "x": -121.85031127929688,
                        "y": 4294.9814453125,
                        "z": 372.8830871582031
                    },
                    "rotation": {
                        "roll": -0.0025939943734556437,
                        "pitch": 0.21798548102378845,
                        "yaw": 179.4337921142578
                    }
                },
                "velocity": {
                    "x": -0.5884108543395996,
                    "y": -7.67860547057353e-05,
                    "z": -0.0021411417983472347
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00047889366396702826,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.4156997167447116e-05,
                    "y": 1.6992498785839416e-05,
                    "z": 0.00047838265891186893
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011201442684978247,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 4.5473498175852e-06,
                    "y": 1.9273272755526705e-06,
                    "z": -0.001120133325457573
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.158761501312256,
                "transform": {
                    "location": {
                        "x": -223.8143768310547,
                        "y": 4295.66064453125,
                        "z": 373.2984619140625
                    },
                    "rotation": {
                        "roll": -9.155272709904239e-05,
                        "pitch": 0.3661527633666992,
                        "yaw": -179.7622833251953
                    }
                },
                "velocity": {
                    "x": -5.1585822105407715,
                    "y": -0.036304593086242676,
                    "z": 0.02306298166513443
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.773403346305713e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.3641901205119211e-05,
                    "y": 8.61181160871638e-06,
                    "z": -7.364182238234207e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.800233781337738,
                "transform": {
                    "location": {
                        "x": -111.44679260253906,
                        "y": 4294.931640625,
                        "z": 372.841552734375
                    },
                    "rotation": {
                        "roll": -0.0018615724984556437,
                        "pitch": 0.2639389932155609,
                        "yaw": 179.18145751953125
                    }
                },
                "velocity": {
                    "x": -0.8002158999443054,
                    "y": 0.004513503983616829,
                    "z": 0.0028731918428093195
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.945411870314274e-05,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 6.997063792368863e-06,
                    "y": -1.5351030242527486e-06,
                    "z": 2.856973333109636e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00011921188706764951,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 2.166055128327571e-05,
                    "y": 1.1987704056082293e-06,
                    "z": -0.00011722140334313735
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.834284431533888e-05,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 6.30278145763441e-06,
                    "y": 7.713138984399848e-06,
                    "z": 6.761306576663628e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7971903085708618,
                "transform": {
                    "location": {
                        "x": -174.48788452148438,
                        "y": 4336.46337890625,
                        "z": 373.12127685546875
                    },
                    "rotation": {
                        "roll": 0.0005103932344354689,
                        "pitch": -0.03079049102962017,
                        "yaw": -89.8713607788086
                    }
                },
                "velocity": {
                    "x": -5.423668335424736e-05,
                    "y": -0.797188401222229,
                    "z": -0.0017224502516910434
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.35420966148376465,
        "expert_target_speed": 0,
        "target_point": [
            20.10937003189324,
            0.8871526400711444
        ],
        "target_point_next": [
            31.10436495133487,
            1.218314389164509
        ]
    },
    "715": {
        "acceleration": [
            0.1893032342195511,
            0.010310186073184013,
            0.007109071593731642
        ],
        "angular_velocity": [
            0.0027921597938984632,
            -0.038835588842630386,
            -0.014098972082138062
        ],
        "forward_vector": [
            -0.9993447661399841,
            0.03602743521332741,
            0.0034751819912344217
        ],
        "right_vector": [
            -0.03602715581655502,
            -0.9993507862091064,
            0.00014274455315899104
        ],
        "location": [
            -166.2021026611328,
            4292.37939453125,
            373.0544738769531
        ],
        "rotation": [
            -0.008178710006177425,
            0.199113667011261,
            177.93531799316406
        ],
        "velocity": [
            -0.0188550166785717,
            0.0010629692114889622,
            0.0015885925386101007
        ],
        "speed": 0.01888495585098865,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.32107925415039,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.751171091920696e-06,
                -9.140369911619928e-06,
                0.0009033748065121472
            ],
            "speed_kmh": 0.0032525052127120035,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.4392523765563965,
                "transform": {
                    "location": {
                        "x": -174.49131774902344,
                        "y": 4320.43115234375,
                        "z": 373.1195373535156
                    },
                    "rotation": {
                        "roll": -0.002532942919060588,
                        "pitch": 0.24607804417610168,
                        "yaw": -90.1198501586914
                    }
                },
                "velocity": {
                    "x": -0.006982127670198679,
                    "y": -5.439247131347656,
                    "z": -0.003144121030345559
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006440487923100591,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 3.382231807336211e-05,
                    "y": -3.5249581742391456e-06,
                    "z": 0.0006431504152715206
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00017975577793549746,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15251275897026062
                    }
                },
                "velocity": {
                    "x": 1.8889382772613317e-05,
                    "y": -2.6173785954597406e-05,
                    "z": 0.00017683400074020028
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.412353515625,
                "transform": {
                    "location": {
                        "x": -174.5207061767578,
                        "y": 4302.541015625,
                        "z": 373.0899963378906
                    },
                    "rotation": {
                        "roll": 0.0154717480763793,
                        "pitch": 0.5028931498527527,
                        "yaw": -90.29644775390625
                    }
                },
                "velocity": {
                    "x": -0.04696379974484444,
                    "y": -8.412215232849121,
                    "z": -0.010565738193690777
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00011441189417382702,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 1.1752173350032535e-06,
                    "y": -7.098903006408364e-05,
                    "z": -8.97176651051268e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015695590991526842,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 4.2950732677127235e-06,
                    "y": -4.5709337427979335e-05,
                    "z": 0.0015688874991610646
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.2139443141641095e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 8.165128747350536e-06,
                    "y": -1.4561631360265892e-05,
                    "z": 4.939444625051692e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.049920082092285,
                "transform": {
                    "location": {
                        "x": -203.89553833007812,
                        "y": 4295.46728515625,
                        "z": 373.1885070800781
                    },
                    "rotation": {
                        "roll": -0.006683349609375,
                        "pitch": 0.10622992366552353,
                        "yaw": 179.60386657714844
                    }
                },
                "velocity": {
                    "x": -10.04959487915039,
                    "y": 0.0718594416975975,
                    "z": 0.03720399737358093
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00039191555697470903,
                "transform": {
                    "location": {
                        "x": -121.85921478271484,
                        "y": 4294.9814453125,
                        "z": 372.8832092285156
                    },
                    "rotation": {
                        "roll": 0.0007678422261960804,
                        "pitch": 0.1903437077999115,
                        "yaw": 179.44496154785156
                    }
                },
                "velocity": {
                    "x": 0.0001366667856927961,
                    "y": 0.0002815704792737961,
                    "z": -0.00023587720352225006
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009034736431203783,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.751171091920696e-06,
                    "y": -9.140369911619928e-06,
                    "z": 0.0009033748065121472
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009276742348447442,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 2.651698878253228e-06,
                    "y": 8.279072062578052e-06,
                    "z": -0.0009276334894821048
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.484416484832764,
                "transform": {
                    "location": {
                        "x": -225.1356201171875,
                        "y": 4295.65478515625,
                        "z": 373.30426025390625
                    },
                    "rotation": {
                        "roll": 0.009438510052859783,
                        "pitch": 0.28605514764785767,
                        "yaw": -179.78408813476562
                    }
                },
                "velocity": {
                    "x": -5.484373092651367,
                    "y": -0.0056870258413255215,
                    "z": 0.021085213869810104
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.2550400394247845e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 4.091300070285797e-06,
                    "y": 3.230482616345398e-05,
                    "z": 2.7389709430281073e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2365710735321045,
                "transform": {
                    "location": {
                        "x": -111.72288513183594,
                        "y": 4294.93310546875,
                        "z": 372.84295654296875
                    },
                    "rotation": {
                        "roll": -0.0026245114859193563,
                        "pitch": 0.25929445028305054,
                        "yaw": 179.18910217285156
                    }
                },
                "velocity": {
                    "x": -1.2365360260009766,
                    "y": 0.007207655347883701,
                    "z": 0.005881147459149361
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009498220751993358,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.5028715097287204e-05,
                    "y": -1.5394657566503156e-06,
                    "z": 0.0009497019345872104
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.7884121664101258e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 1.9282177163404413e-05,
                    "y": 3.29239628626965e-06,
                    "z": 1.987163705052808e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002787293924484402,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 7.203668246802408e-06,
                    "y": 1.4132556316326372e-05,
                    "z": 0.0002782776427920908
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.001727938884869e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 7.31933823772124e-06,
                    "y": 4.6637587729492225e-06,
                    "z": -3.906480924342759e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.560540795326233,
                "transform": {
                    "location": {
                        "x": -174.4871826171875,
                        "y": 4336.1669921875,
                        "z": 373.1208801269531
                    },
                    "rotation": {
                        "roll": 2.29689285333734e-05,
                        "pitch": 0.008476263843476772,
                        "yaw": -89.9547119140625
                    }
                },
                "velocity": {
                    "x": -0.0005444014677777886,
                    "y": -1.5605394840240479,
                    "z": -0.0019756220281124115
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3574056923389435,
        "expert_target_speed": 0,
        "target_point": [
            20.104083720684084,
            0.8865010635428258
        ],
        "target_point_next": [
            31.09908621693666,
            1.217411157087141
        ]
    },
    "720": {
        "acceleration": [
            -0.17956167459487915,
            -0.012457003816962242,
            0.0034835818223655224
        ],
        "angular_velocity": [
            -0.014478589408099651,
            0.039238061755895615,
            0.04253645986318588
        ],
        "forward_vector": [
            -0.9993457794189453,
            0.03600027412176132,
            0.0034730362240225077
        ],
        "right_vector": [
            -0.036000046879053116,
            -0.9993517994880676,
            0.00012729830632451922
        ],
        "location": [
            -166.20748901367188,
            4292.37939453125,
            373.0545349121094
        ],
        "rotation": [
            -0.007293700240552425,
            0.19899071753025055,
            177.93687438964844
        ],
        "velocity": [
            -0.026888608932495117,
            0.00019260043336544186,
            0.0014923285925760865
        ],
        "speed": 0.026889298712528535,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.31569290161133,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.301549309573602e-05,
                1.0371580174250994e-05,
                0.0008908165036700666
            ],
            "speed_kmh": 0.00320749902052526,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.421247959136963,
                "transform": {
                    "location": {
                        "x": -174.4933624267578,
                        "y": 4319.0576171875,
                        "z": 373.1181945800781
                    },
                    "rotation": {
                        "roll": 0.002777760848402977,
                        "pitch": 0.02358464151620865,
                        "yaw": -90.21784210205078
                    }
                },
                "velocity": {
                    "x": -0.00827273540198803,
                    "y": -5.421238899230957,
                    "z": -0.005335092544555664
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005126997129991651,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 1.1150762475153897e-05,
                    "y": 4.335054654802661e-06,
                    "z": 0.0005125601310282946
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00042059816769324243,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15251275897026062
                    }
                },
                "velocity": {
                    "x": 5.480572326632682e-06,
                    "y": -1.057304962159833e-05,
                    "z": 0.0004204295400995761
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.064655303955078,
                "transform": {
                    "location": {
                        "x": -174.53225708007812,
                        "y": 4300.46484375,
                        "z": 373.0896301269531
                    },
                    "rotation": {
                        "roll": 0.002226460026577115,
                        "pitch": 0.12320294231176376,
                        "yaw": -90.30455780029297
                    }
                },
                "velocity": {
                    "x": -0.04480208456516266,
                    "y": -8.064529418945312,
                    "z": -0.004954357165843248
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00019000854808837175,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 3.270745219197124e-05,
                    "y": -2.4508633941877633e-05,
                    "z": -0.00018556076975073665
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001068392302840948,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1770935058594
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.20056165754795074,
                        "yaw": -0.1582031100988388
                    }
                },
                "velocity": {
                    "x": 1.5443078154930845e-05,
                    "y": 2.1138115698704496e-05,
                    "z": 0.001068071462213993
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.122644895687699e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.745233804394957e-06,
                    "y": -3.5022790711991547e-07,
                    "z": 4.066939072799869e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.316792488098145,
                "transform": {
                    "location": {
                        "x": -206.20811462402344,
                        "y": 4295.48291015625,
                        "z": 373.1968688964844
                    },
                    "rotation": {
                        "roll": -0.005004882346838713,
                        "pitch": -0.03143252804875374,
                        "yaw": 179.59068298339844
                    }
                },
                "velocity": {
                    "x": -8.316547393798828,
                    "y": 0.055252935737371445,
                    "z": 0.03197913244366646
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00033208823879249394,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.88299560546875
                    },
                    "rotation": {
                        "roll": 0.0004288107738830149,
                        "pitch": 0.21638721227645874,
                        "yaw": 179.44496154785156
                    }
                },
                "velocity": {
                    "x": 3.3981054002651945e-05,
                    "y": 0.000319238897645846,
                    "z": -8.493775385431945e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008909719763323665,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.301549309573602e-05,
                    "y": 1.0371580174250994e-05,
                    "z": 0.0008908165036700666
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.936090358067304e-05,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 7.5603647928801365e-06,
                    "y": -8.736521522223484e-06,
                    "z": -6.839187699370086e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.910262584686279,
                "transform": {
                    "location": {
                        "x": -226.5946044921875,
                        "y": 4295.65185546875,
                        "z": 373.3092346191406
                    },
                    "rotation": {
                        "roll": 0.004455322865396738,
                        "pitch": 0.3582775592803955,
                        "yaw": -179.94528198242188
                    }
                },
                "velocity": {
                    "x": -6.910209655761719,
                    "y": -0.003078928217291832,
                    "z": 0.026891669258475304
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.140442251809873e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 3.857538104057312e-06,
                    "y": 1.987865971386782e-06,
                    "z": 4.117637945455499e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012823037104681134,
                "transform": {
                    "location": {
                        "x": -111.8304672241211,
                        "y": 4294.93310546875,
                        "z": 372.84368896484375
                    },
                    "rotation": {
                        "roll": -0.00012207039981149137,
                        "pitch": 0.17473672330379486,
                        "yaw": 179.1482391357422
                    }
                },
                "velocity": {
                    "x": 0.0001193848584080115,
                    "y": -0.0001439669431420043,
                    "z": -0.0012685911497101188
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0001116144994739443,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 7.92481023381697e-06,
                    "y": -1.5197305401670747e-05,
                    "z": -0.00011029068264178932
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.9964189858874306e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 4.749633262690622e-06,
                    "y": 1.3710641724173911e-05,
                    "z": 5.818215504405089e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00024145023780874908,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 6.053969173080986e-06,
                    "y": -2.560221901148907e-06,
                    "z": -0.00024136075808200985
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.168334973859601e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 7.995962732820772e-06,
                    "y": -1.1378165254427586e-06,
                    "z": 5.1048395107500255e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.3047518730163574,
                "transform": {
                    "location": {
                        "x": -174.4872589111328,
                        "y": 4335.6796875,
                        "z": 373.1207580566406
                    },
                    "rotation": {
                        "roll": -0.0002441408869344741,
                        "pitch": 0.009890113025903702,
                        "yaw": -89.92891693115234
                    }
                },
                "velocity": {
                    "x": 0.00383722479455173,
                    "y": -2.304748296737671,
                    "z": -0.0011214828118681908
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3582334816455841,
        "expert_target_speed": 0,
        "target_point": [
            20.098725369527195,
            0.8857511443343088
        ],
        "target_point_next": [
            31.093737013408074,
            1.2163571538589133
        ]
    },
    "725": {
        "acceleration": [
            0.12393306940793991,
            0.011343659833073616,
            -0.010253524407744408
        ],
        "angular_velocity": [
            0.017934802919626236,
            -0.033547673374414444,
            -0.009471714496612549
        ],
        "forward_vector": [
            -0.9993486404418945,
            0.035918306559324265,
            0.0034812616650015116
        ],
        "right_vector": [
            -0.03591802343726158,
            -0.9993547201156616,
            0.00014487506996374577
        ],
        "location": [
            -166.21359252929688,
            4292.37939453125,
            373.0545349121094
        ],
        "rotation": [
            -0.00830078125,
            0.19946199655532837,
            177.9415740966797
        ],
        "velocity": [
            -0.023669950664043427,
            0.0010553541360422969,
            0.0014208698412403464
        ],
        "speed": 0.02369346612023474,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.30958938598633,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0831616236828268e-05,
                -7.736371117061935e-06,
                0.0002533413644414395
            ],
            "speed_kmh": 0.0009132868819921557,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.133142471313477,
                "transform": {
                    "location": {
                        "x": -174.4953155517578,
                        "y": 4317.74755859375,
                        "z": 373.11676025390625
                    },
                    "rotation": {
                        "roll": 0.00022102090588305146,
                        "pitch": -0.08538419008255005,
                        "yaw": -90.15773010253906
                    }
                },
                "velocity": {
                    "x": -0.007454194128513336,
                    "y": -5.133133888244629,
                    "z": -0.005861005745828152
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014388615963980556,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 2.4458988264086656e-05,
                    "y": -1.6613974366919138e-05,
                    "z": 0.0014385577524080873
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001378394226776436,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15251275897026062
                    }
                },
                "velocity": {
                    "x": 7.85853717388818e-06,
                    "y": -1.5421036323459703e-06,
                    "z": 0.0001376065774820745
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.84162712097168,
                "transform": {
                    "location": {
                        "x": -174.54296875,
                        "y": 4298.50146484375,
                        "z": 373.0888977050781
                    },
                    "rotation": {
                        "roll": 0.03544766083359718,
                        "pitch": -0.05963438004255295,
                        "yaw": -90.31942749023438
                    }
                },
                "velocity": {
                    "x": -0.03959842026233673,
                    "y": -7.841525554656982,
                    "z": -0.0047817230224609375
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003504584601614624,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": -2.875030077120755e-06,
                    "y": 2.9171849746489897e-05,
                    "z": -0.0003492303949315101
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007840341422706842,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 2.2107846234575845e-05,
                    "y": 1.3269689588923939e-05,
                    "z": 0.0007836100412532687
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00034717548987828195,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 5.896314632991562e-06,
                    "y": -1.1065650141972583e-05,
                    "z": 0.00034694900386966765
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.365958213806152,
                "transform": {
                    "location": {
                        "x": -208.12217712402344,
                        "y": 4295.49560546875,
                        "z": 373.2041320800781
                    },
                    "rotation": {
                        "roll": -0.0018615720327943563,
                        "pitch": 0.040154680609703064,
                        "yaw": 179.640625
                    }
                },
                "velocity": {
                    "x": -7.365755558013916,
                    "y": 0.046616390347480774,
                    "z": 0.02851940132677555
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010147468419745564,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": 0.001537516713142395,
                        "pitch": 0.22030091285705566,
                        "yaw": 179.44496154785156
                    }
                },
                "velocity": {
                    "x": 2.7354099074727856e-05,
                    "y": -0.00013505693641491234,
                    "z": 0.0010053470032289624
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00025369078502990305,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0831616236828268e-05,
                    "y": -7.736371117061935e-06,
                    "z": 0.0002533413644414395
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008649823139421642,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 3.1941010547598125e-06,
                    "y": 8.837298992148135e-06,
                    "z": -0.0008649312658235431
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.33376693725586,
                "transform": {
                    "location": {
                        "x": -228.5691375732422,
                        "y": 4295.6513671875,
                        "z": 373.3165588378906
                    },
                    "rotation": {
                        "roll": 0.003464312292635441,
                        "pitch": 0.38581687211990356,
                        "yaw": -179.97589111328125
                    }
                },
                "velocity": {
                    "x": -8.333701133728027,
                    "y": -0.0022227184381335974,
                    "z": 0.03291265293955803
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003384552546776831,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": -7.096119134075707e-06,
                    "y": -1.6213552953558974e-05,
                    "z": 0.000337992183631286
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0001956948108272627,
                "transform": {
                    "location": {
                        "x": -111.83078002929688,
                        "y": 4294.93310546875,
                        "z": 372.8433837890625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.21458403766155243,
                        "yaw": 179.1482391357422
                    }
                },
                "velocity": {
                    "x": 7.624994759680703e-05,
                    "y": 0.00017756485613062978,
                    "z": -3.087272489210591e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010406039655208588,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.9680595869431272e-05,
                    "y": -2.3426181883223762e-07,
                    "z": 0.0010404178174212575
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.706728891003877e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 9.057298484549392e-06,
                    "y": -1.915941766128526e-06,
                    "z": 6.642526568612084e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00021516568085644394,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 2.807043529173825e-06,
                    "y": 9.176110324915498e-06,
                    "z": -0.0002149515930796042
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001329873048234731,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 7.58033229431021e-06,
                    "y": -2.405266059213318e-06,
                    "z": 0.00013274929369799793
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.1136128902435303,
                "transform": {
                    "location": {
                        "x": -174.4875030517578,
                        "y": 4334.9970703125,
                        "z": 373.1207275390625
                    },
                    "rotation": {
                        "roll": -0.00012207044346723706,
                        "pitch": 0.006406717002391815,
                        "yaw": -89.8990707397461
                    }
                },
                "velocity": {
                    "x": 0.0034841697197407484,
                    "y": -3.1136107444763184,
                    "z": -0.0014109420590102673
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3423284590244293,
        "expert_target_speed": 0,
        "target_point": [
            20.092698370441177,
            0.8838834976324392
        ],
        "target_point_next": [
            31.087737092321948,
            1.213587739267775
        ]
    },
    "730": {
        "acceleration": [
            -0.177837535738945,
            -0.010324547998607159,
            0.0014213565737009048
        ],
        "angular_velocity": [
            -0.04799614101648331,
            0.030432820320129395,
            0.024610240012407303
        ],
        "forward_vector": [
            -0.9993497729301453,
            0.03588566556572914,
            0.0034956857562065125
        ],
        "right_vector": [
            -0.03588545694947243,
            -0.9993559122085571,
            0.0001225046580657363
        ],
        "location": [
            -166.220458984375,
            4292.37939453125,
            373.0545654296875
        ],
        "rotation": [
            -0.00701904296875,
            0.20028845965862274,
            177.94345092773438
        ],
        "velocity": [
            -0.031371090561151505,
            0.000414544774685055,
            0.0015304184053093195
        ],
        "speed": 0.03137382938638807,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.3027229309082,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.5215649909805506e-05,
                -6.367267360474216e-06,
                0.0012091718381270766
            ],
            "speed_kmh": 0.004353423590131333,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.129640102386475,
                "transform": {
                    "location": {
                        "x": -174.49717712402344,
                        "y": 4316.462890625,
                        "z": 373.1153869628906
                    },
                    "rotation": {
                        "roll": -0.0018615712178871036,
                        "pitch": -0.06851362437009811,
                        "yaw": -90.0714111328125
                    }
                },
                "velocity": {
                    "x": -0.004287263844162226,
                    "y": -5.129634380340576,
                    "z": -0.006342010572552681
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001128533505834639,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 1.131623957917327e-05,
                    "y": 9.473812497162726e-06,
                    "z": 0.0011284369975328445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00025409742374904454,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15251275897026062
                    }
                },
                "velocity": {
                    "x": 1.5142373740673065e-05,
                    "y": 3.644778917077929e-05,
                    "z": 0.00025101349456235766
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.187030792236328,
                "transform": {
                    "location": {
                        "x": -174.55328369140625,
                        "y": 4296.48583984375,
                        "z": 373.08746337890625
                    },
                    "rotation": {
                        "roll": 0.09171346575021744,
                        "pitch": 0.04320094361901283,
                        "yaw": -90.26879119873047
                    }
                },
                "velocity": {
                    "x": -0.03479503467679024,
                    "y": -8.186954498291016,
                    "z": -0.005484237335622311
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004129179287701845,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": -4.339478891779436e-06,
                    "y": 3.33900679834187e-05,
                    "z": 0.0004115428018849343
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002771369181573391,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 1.2664720088650938e-05,
                    "y": 1.8783042833092622e-05,
                    "z": -0.00027620946639217436
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00011012229515472427,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 7.069743787724292e-06,
                    "y": 3.2193520382861607e-07,
                    "z": 0.00010989465226884931
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.021005630493164,
                "transform": {
                    "location": {
                        "x": -210.02984619140625,
                        "y": 4295.50732421875,
                        "z": 373.2116394042969
                    },
                    "rotation": {
                        "roll": -0.0013427729718387127,
                        "pitch": 0.2552168369293213,
                        "yaw": 179.6321563720703
                    }
                },
                "velocity": {
                    "x": -8.020798683166504,
                    "y": 0.04968741908669472,
                    "z": 0.0291567612439394
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000928802415728569,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0005491471383720636,
                        "pitch": 0.2251298576593399,
                        "yaw": 179.44500732421875
                    }
                },
                "velocity": {
                    "x": 1.2390166375553235e-05,
                    "y": 4.0919388993643224e-05,
                    "z": 0.0009278178913518786
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012092842953279614,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.5215649909805506e-05,
                    "y": -6.367267360474216e-06,
                    "z": 0.0012091718381270766
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00026328657986596227,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 6.084441793063888e-06,
                    "y": 1.1381403055565897e-05,
                    "z": -0.0002629700757097453
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.974388122558594,
                "transform": {
                    "location": {
                        "x": -230.61749267578125,
                        "y": 4295.65283203125,
                        "z": 373.3258361816406
                    },
                    "rotation": {
                        "roll": 0.007683246396481991,
                        "pitch": 0.23196686804294586,
                        "yaw": 179.94017028808594
                    }
                },
                "velocity": {
                    "x": -7.974296569824219,
                    "y": 0.020841386169195175,
                    "z": 0.03202515468001366
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002332431176910177,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.3988613318360876e-05,
                    "y": -4.880446795141324e-06,
                    "z": -0.0002327721012989059
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007448306423611939,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0017089839093387127,
                        "pitch": 0.22415313124656677,
                        "yaw": 179.1482696533203
                    }
                },
                "velocity": {
                    "x": 3.3836960938060656e-05,
                    "y": 0.00011342356447130442,
                    "z": 0.0007353657856583595
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007883385987952352,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.6773827155702747e-05,
                    "y": 5.315439011610579e-06,
                    "z": 0.0007881422061473131
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00020651276281569153,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 2.5026872663147515e-06,
                    "y": 9.499330190010369e-06,
                    "z": 0.00020627898629754782
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4113988981989678e-05,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 6.244256837817375e-06,
                    "y": -2.259381517433212e-06,
                    "z": 1.245428211404942e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3378859623335302e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 5.168169536773348e-06,
                    "y": -1.4179056051943917e-05,
                    "z": 1.7855403712019324e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.850722074508667,
                "transform": {
                    "location": {
                        "x": -174.48703002929688,
                        "y": 4334.123046875,
                        "z": 373.1205749511719
                    },
                    "rotation": {
                        "roll": -0.00030517560662701726,
                        "pitch": 0.003469735849648714,
                        "yaw": -89.91451263427734
                    }
                },
                "velocity": {
                    "x": 0.004513934254646301,
                    "y": -3.850719451904297,
                    "z": -0.0011508845491334796
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34736448526382446,
        "expert_target_speed": 10.0,
        "target_point": [
            20.08586498734155,
            0.8829855851990687
        ],
        "target_point_next": [
            31.080914394078253,
            1.2123333133358893
        ]
    },
    "735": {
        "acceleration": [
            0.21105565130710602,
            0.011979315429925919,
            0.008254431188106537
        ],
        "angular_velocity": [
            0.00010870605910895392,
            -0.047645729035139084,
            -0.008349623531103134
        ],
        "forward_vector": [
            -0.9993507266044617,
            0.035865895450115204,
            0.003442161250859499
        ],
        "right_vector": [
            -0.035865675657987595,
            -0.9993566274642944,
            0.00012516783317551017
        ],
        "location": [
            -166.22679138183594,
            4292.37939453125,
            373.0545959472656
        ],
        "rotation": [
            -0.007171630859375,
            0.19722169637680054,
            177.944580078125
        ],
        "velocity": [
            -0.017680704593658447,
            0.000818483647890389,
            0.001973543083295226
        ],
        "speed": 0.01769963927344506,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.296390533447266,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.052922567003407e-06,
                -1.862169119704049e-05,
                7.006512896623462e-05
            ],
            "speed_kmh": 0.00026259623107699546,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.452706813812256,
                "transform": {
                    "location": {
                        "x": -174.49827575683594,
                        "y": 4315.19970703125,
                        "z": 373.11383056640625
                    },
                    "rotation": {
                        "roll": -0.001342775416560471,
                        "pitch": -0.12130415439605713,
                        "yaw": -90.16695404052734
                    }
                },
                "velocity": {
                    "x": -0.002001726534217596,
                    "y": -4.452695846557617,
                    "z": -0.009807729162275791
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013378133298829198,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 6.716623829561286e-06,
                    "y": -2.304771896888269e-06,
                    "z": 0.0013377944706007838
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00032387569081038237,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15251275897026062
                    }
                },
                "velocity": {
                    "x": 5.157254690857371e-06,
                    "y": -9.744321687321644e-06,
                    "z": 0.00032368797110393643
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.966538906097412,
                "transform": {
                    "location": {
                        "x": -174.56210327148438,
                        "y": 4294.46484375,
                        "z": 373.0863952636719
                    },
                    "rotation": {
                        "roll": 0.16889365017414093,
                        "pitch": -0.0563080757856369,
                        "yaw": -90.26915740966797
                    }
                },
                "velocity": {
                    "x": -0.018784740939736366,
                    "y": -7.9665141105651855,
                    "z": -0.006045789457857609
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00029320784960873425,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": -6.452873094531242e-06,
                    "y": 5.7426190323894843e-05,
                    "z": 0.0002874568453989923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.220913878176361e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 5.581863206316484e-06,
                    "y": 1.3055803549377742e-07,
                    "z": 8.201931632356718e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.18766975402832,
                "transform": {
                    "location": {
                        "x": -212.18421936035156,
                        "y": 4295.5205078125,
                        "z": 373.2200012207031
                    },
                    "rotation": {
                        "roll": 0.00037395741674117744,
                        "pitch": 0.3706538677215576,
                        "yaw": 179.66644287109375
                    }
                },
                "velocity": {
                    "x": -9.187438011169434,
                    "y": 0.055725641548633575,
                    "z": 0.033783748745918274
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006042508757673204,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0005491471383720636,
                        "pitch": 0.2251298576593399,
                        "yaw": 179.44500732421875
                    }
                },
                "velocity": {
                    "x": 7.601045126648387e-06,
                    "y": 2.4789487724774517e-05,
                    "z": 0.0006036942941136658
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.294339593499899e-05,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.052922567003407e-06,
                    "y": -1.862169119704049e-05,
                    "z": 7.006512896623462e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000811791920568794,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 6.008594937156886e-06,
                    "y": -9.432043043489102e-06,
                    "z": -0.0008117149118334055
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.884809494018555,
                "transform": {
                    "location": {
                        "x": -232.58155822753906,
                        "y": 4295.65771484375,
                        "z": 373.3335876464844
                    },
                    "rotation": {
                        "roll": 0.004046285524964333,
                        "pitch": 0.21768495440483093,
                        "yaw": 179.84652709960938
                    }
                },
                "velocity": {
                    "x": -7.884716510772705,
                    "y": 0.024661168456077576,
                    "z": 0.029269646853208542
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005506562301889062,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.9057094959862297e-06,
                    "y": 7.223485590657219e-05,
                    "z": -0.0005458944942802191
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004282559675630182,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.84332275390625
                    },
                    "rotation": {
                        "roll": -0.0015869139460846782,
                        "pitch": 0.22535525262355804,
                        "yaw": 179.1482696533203
                    }
                },
                "velocity": {
                    "x": -2.905614564951975e-06,
                    "y": 0.00014897981600370258,
                    "z": -0.00040149688720703125
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.2053527832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0316169448196888,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.8857142246561125e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 7.874220500525553e-06,
                    "y": -1.8859730062104063e-06,
                    "z": 4.818153320229612e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00039165240013971925,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 5.670673999702558e-06,
                    "y": -2.525835270716925e-06,
                    "z": 0.00039160321466624737
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4242017641663551e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 7.349550742219435e-06,
                    "y": 6.0689085330523085e-06,
                    "z": 1.0582414688542485e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.591660976409912,
                "transform": {
                    "location": {
                        "x": -174.486328125,
                        "y": 4333.064453125,
                        "z": 373.1203308105469
                    },
                    "rotation": {
                        "roll": -0.00027465829043649137,
                        "pitch": 0.003592679277062416,
                        "yaw": -89.94403076171875
                    }
                },
                "velocity": {
                    "x": 0.00034940402838401496,
                    "y": -4.591660499572754,
                    "z": -0.001842126832343638
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3472244143486023,
        "expert_target_speed": 10.0,
        "target_point": [
            20.07955434369377,
            0.8823562062627328
        ],
        "target_point_next": [
            31.07461034412534,
            1.2114837347127563
        ]
    },
    "740": {
        "acceleration": [
            -0.13887014985084534,
            -0.012781481258571148,
            0.0062690721824765205
        ],
        "angular_velocity": [
            -0.00973351951688528,
            0.028428273275494576,
            0.03632856532931328
        ],
        "forward_vector": [
            -0.9993522763252258,
            0.03582038730382919,
            0.003458492923527956
        ],
        "right_vector": [
            -0.035820186138153076,
            -0.9993582367897034,
            0.00011930889741051942
        ],
        "location": [
            -166.232177734375,
            4292.37939453125,
            373.0545959472656
        ],
        "rotation": [
            -0.006835937034338713,
            0.1981574445962906,
            177.9471893310547
        ],
        "velocity": [
            -0.025232940912246704,
            0.00013552371819969267,
            0.0018210982671007514
        ],
        "speed": 0.025233304852102276,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.2910041809082,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.59463432081975e-06,
                -7.236048077174928e-06,
                0.001328080310486257
            ],
            "speed_kmh": 0.00478128484838232,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.710740089416504,
                "transform": {
                    "location": {
                        "x": -174.49952697753906,
                        "y": 4314.13720703125,
                        "z": 373.1125183105469
                    },
                    "rotation": {
                        "roll": 0.0008394902106374502,
                        "pitch": -0.06772132217884064,
                        "yaw": -90.16597747802734
                    }
                },
                "velocity": {
                    "x": -0.005652541760355234,
                    "y": -4.710732936859131,
                    "z": -0.005733270663768053
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010013830615207553,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 8.548050573153887e-06,
                    "y": -2.4091148134175455e-06,
                    "z": 0.001001343596726656
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.760664549190551e-05,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15251275897026062
                    }
                },
                "velocity": {
                    "x": 7.158480457292171e-06,
                    "y": -2.232248789368896e-06,
                    "z": 3.685149931698106e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.012962341308594,
                "transform": {
                    "location": {
                        "x": -174.56578063964844,
                        "y": 4292.47607421875,
                        "z": 373.0845642089844
                    },
                    "rotation": {
                        "roll": 0.1958508938550949,
                        "pitch": -0.06399887055158615,
                        "yaw": -90.09883880615234
                    }
                },
                "velocity": {
                    "x": -0.006527467165142298,
                    "y": -8.012956619262695,
                    "z": -0.007440223358571529
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000445850717369467,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 1.1186636584170628e-05,
                    "y": 1.1881907084898558e-05,
                    "z": -0.0004455519374459982
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00030335428891703486,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": -3.2735242712078616e-06,
                    "y": 5.085703014628962e-05,
                    "z": 0.0002990429347846657
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.767880818690173e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 8.533186701242812e-06,
                    "y": -1.3220230357546825e-05,
                    "z": 4.5007545850239694e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.375052452087402,
                "transform": {
                    "location": {
                        "x": -214.64077758789062,
                        "y": 4295.53515625,
                        "z": 373.2293701171875
                    },
                    "rotation": {
                        "roll": 0.00044625403825193644,
                        "pitch": 0.4045247733592987,
                        "yaw": 179.65939331054688
                    }
                },
                "velocity": {
                    "x": -10.374804496765137,
                    "y": 0.06025181710720062,
                    "z": 0.03889116272330284
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009584216750226915,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0005491471383720636,
                        "pitch": 0.2251298576593399,
                        "yaw": 179.44500732421875
                    }
                },
                "velocity": {
                    "x": 7.275230927916709e-06,
                    "y": 7.286355867108796e-06,
                    "z": 0.0009583663777448237
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013281346764415503,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.59463432081975e-06,
                    "y": -7.236048077174928e-06,
                    "z": 0.001328080310486257
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005599260912276804,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 4.731863555207383e-06,
                    "y": 9.79196101980051e-06,
                    "z": -0.0005598204443231225
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.0844879150390625,
                "transform": {
                    "location": {
                        "x": -234.4742889404297,
                        "y": 4295.66357421875,
                        "z": 373.34136962890625
                    },
                    "rotation": {
                        "roll": 0.0024963298346847296,
                        "pitch": 0.15520237386226654,
                        "yaw": 179.81187438964844
                    }
                },
                "velocity": {
                    "x": -7.084385395050049,
                    "y": 0.024646053090691566,
                    "z": 0.02919072099030018
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008063834975473583,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.6472115476062754e-06,
                    "y": -1.7873444448923692e-05,
                    "z": -0.0008061836706474423
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010449556866660714,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.84332275390625
                    },
                    "rotation": {
                        "roll": -0.0015869139460846782,
                        "pitch": 0.22535525262355804,
                        "yaw": 179.1482696533203
                    }
                },
                "velocity": {
                    "x": 1.1929497304663528e-05,
                    "y": -1.0589135854388587e-05,
                    "z": 0.0010448339162394404
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.23378147184848785,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.06304931640625
                    },
                    "rotation": {
                        "roll": 0.00013633197522722185,
                        "pitch": 0.030244076624512672,
                        "yaw": -90.0511703491211
                    }
                },
                "velocity": {
                    "x": -8.77096681506373e-05,
                    "y": 0.00012249294377397746,
                    "z": 0.23378142714500427
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016252095811069012,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.0446011401654687e-05,
                    "y": -7.6421165431384e-06,
                    "z": 0.0016251580091193318
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5901090591796674e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 7.77773584559327e-06,
                    "y": 1.4555159566498332e-07,
                    "z": 1.3868321730114985e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00025976833421736956,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 9.359978321299423e-06,
                    "y": -6.048291652405169e-06,
                    "z": 0.0002595291880425066
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.645631997846067e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 7.5481084422790445e-06,
                    "y": -8.24082235340029e-06,
                    "z": 4.509217615122907e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.233254432678223,
                "transform": {
                    "location": {
                        "x": -174.486083984375,
                        "y": 4331.81982421875,
                        "z": 373.12030029296875
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": 0.00018441509746480733,
                        "yaw": -89.97238159179688
                    }
                },
                "velocity": {
                    "x": -2.21913378481986e-05,
                    "y": -5.233254432678223,
                    "z": -0.0010202217381447554
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3495784401893616,
        "expert_target_speed": 10.0,
        "target_point": [
            20.074211397607698,
            0.8812536694810695
        ],
        "target_point_next": [
            31.069282296080438,
            1.2098831267241053
        ]
    },
    "745": {
        "acceleration": [
            0.18850865960121155,
            0.013196718879044056,
            0.004477309994399548
        ],
        "angular_velocity": [
            0.04225558415055275,
            -0.036574751138687134,
            -0.012663086876273155
        ],
        "forward_vector": [
            -0.9993532299995422,
            0.03579322621226311,
            0.0034546779934316874
        ],
        "right_vector": [
            -0.03579298034310341,
            -0.9993591904640198,
            0.00013315722753759474
        ],
        "location": [
            -166.23703002929688,
            4292.37939453125,
            373.0545959472656
        ],
        "rotation": [
            -0.007629392668604851,
            0.19793887436389923,
            177.94874572753906
        ],
        "velocity": [
            -0.01739095337688923,
            0.0009486612980253994,
            0.0019510268466547132
        ],
        "speed": 0.017416808479612623,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.28614807128906,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2500137017923407e-05,
                -1.412802066624863e-05,
                0.0008397377096116543
            ],
            "speed_kmh": 0.0030238184417009277,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.610557556152344,
                "transform": {
                    "location": {
                        "x": -174.45350646972656,
                        "y": 4312.92138671875,
                        "z": 373.1109924316406
                    },
                    "rotation": {
                        "roll": -0.1712035983800888,
                        "pitch": -0.0815114751458168,
                        "yaw": -88.45587158203125
                    }
                },
                "velocity": {
                    "x": 0.3162952661514282,
                    "y": -4.599691390991211,
                    "z": -0.006206789053976536
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00048067019088193774,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 7.769837793603074e-06,
                    "y": -1.3153511645214166e-05,
                    "z": 0.00048042734852060676
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00038032050360925496,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15251275897026062
                    }
                },
                "velocity": {
                    "x": 4.149973392486572e-06,
                    "y": -2.8793647288694046e-05,
                    "z": 0.0003792062634602189
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.078080177307129,
                "transform": {
                    "location": {
                        "x": -174.5675811767578,
                        "y": 4290.45849609375,
                        "z": 373.0818176269531
                    },
                    "rotation": {
                        "roll": 0.20782533288002014,
                        "pitch": -0.07199019193649292,
                        "yaw": -90.0733871459961
                    }
                },
                "velocity": {
                    "x": -0.0059186797589063644,
                    "y": -8.078043937683105,
                    "z": -0.02363833412528038
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006298861117102206,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 2.7211493943468668e-05,
                    "y": -1.5160539078351576e-05,
                    "z": -0.0006291154422797263
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.1303617510711774e-05,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 7.969215403136332e-06,
                    "y": -3.2117124646902084e-05,
                    "z": 3.9205140637932345e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00022870821703691036,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 4.453733254194958e-06,
                    "y": -1.1438696674304083e-05,
                    "z": 0.00022837855794932693
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.563422203063965,
                "transform": {
                    "location": {
                        "x": -217.16616821289062,
                        "y": 4295.5498046875,
                        "z": 373.23883056640625
                    },
                    "rotation": {
                        "roll": 0.00019117062038276345,
                        "pitch": 0.17546072602272034,
                        "yaw": 179.6787872314453
                    }
                },
                "velocity": {
                    "x": -9.563188552856445,
                    "y": 0.05554885417222977,
                    "z": 0.03714646399021149
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008869707235135138,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0005491471383720636,
                        "pitch": 0.2251298576593399,
                        "yaw": 179.44500732421875
                    }
                },
                "velocity": {
                    "x": 1.0261646821163595e-05,
                    "y": -8.137350050674286e-06,
                    "z": 0.0008868740405887365
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008399495854973793,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2500137017923407e-05,
                    "y": -1.412802066624863e-05,
                    "z": 0.0008397377096116543
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00029481344972737134,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 1.2391209565976169e-05,
                    "y": -5.974674422759563e-06,
                    "z": 0.00029449231806211174
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.694809675216675,
                "transform": {
                    "location": {
                        "x": -235.82687377929688,
                        "y": 4295.66845703125,
                        "z": 373.3490295410156
                    },
                    "rotation": {
                        "roll": 0.001264766207896173,
                        "pitch": -0.1453259289264679,
                        "yaw": 179.7725372314453
                    }
                },
                "velocity": {
                    "x": -2.6947696208953857,
                    "y": 0.012381226755678654,
                    "z": 0.00790401455014944
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007520536310039461,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 9.956545909517445e-06,
                    "y": 3.061204915866256e-05,
                    "z": -0.0007513643358834088
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010925533715635538,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.84332275390625
                    },
                    "rotation": {
                        "roll": -0.0015869139460846782,
                        "pitch": 0.22535525262355804,
                        "yaw": 179.1482696533203
                    }
                },
                "velocity": {
                    "x": 1.9149221770931035e-05,
                    "y": 9.151845006272197e-06,
                    "z": 0.0010923472000285983
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.09514310956001282,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.1109313964844
                    },
                    "rotation": {
                        "roll": -9.155389125226066e-05,
                        "pitch": 0.030223585665225983,
                        "yaw": -90.0511703491211
                    }
                },
                "velocity": {
                    "x": 1.263774811377516e-05,
                    "y": 5.1325496315257624e-05,
                    "z": 0.09514309465885162
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012797318631783128,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 2.135567228833679e-05,
                    "y": -1.104802777263103e-05,
                    "z": 0.0012795060174539685
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.411515202373266e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 9.636692084313836e-06,
                    "y": -1.1036589739887859e-06,
                    "z": 9.361398406326771e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.808208465576172e-05,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 9.672790838521905e-06,
                    "y": -1.0772406312753446e-05,
                    "z": -7.672812353121117e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.011652683606371e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 7.603727226523915e-06,
                    "y": -6.884121148686972e-07,
                    "z": 4.9531565309735015e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.952139854431152,
                "transform": {
                    "location": {
                        "x": -174.48593139648438,
                        "y": 4330.4404296875,
                        "z": 373.11968994140625
                    },
                    "rotation": {
                        "roll": 0.0003815277887042612,
                        "pitch": -0.006229132413864136,
                        "yaw": -89.98468017578125
                    }
                },
                "velocity": {
                    "x": 0.0004013629804830998,
                    "y": -5.952139854431152,
                    "z": -0.001916265464387834
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3471624553203583,
        "expert_target_speed": 10.0,
        "target_point": [
            20.06938615677294,
            0.8805343782253839
        ],
        "target_point_next": [
            31.06446598324042,
            1.2088649924204673
        ]
    },
    "750": {
        "acceleration": [
            -0.18939632177352905,
            -0.013980986550450325,
            -0.002270890399813652
        ],
        "angular_velocity": [
            -0.0026786080561578274,
            0.05050748959183693,
            0.05537010356783867
        ],
        "forward_vector": [
            -0.9993546605110168,
            0.035754624754190445,
            0.003460280830040574
        ],
        "right_vector": [
            -0.035754475742578506,
            -0.9993606209754944,
            0.00010439527250127867
        ],
        "location": [
            -166.241943359375,
            4292.37939453125,
            373.05462646484375
        ],
        "rotation": [
            -0.005981444381177425,
            0.1982598900794983,
            177.95095825195312
        ],
        "velocity": [
            -0.02287658490240574,
            4.699783312389627e-05,
            0.0013393496628850698
        ],
        "speed": 0.022876633178710904,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.2812385559082,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                7.646567610208876e-06,
                2.5584013130242056e-08,
                3.170654963469133e-05
            ],
            "speed_kmh": 0.00011741608147452772,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.539298057556152,
                "transform": {
                    "location": {
                        "x": -174.36756896972656,
                        "y": 4311.81298828125,
                        "z": 373.1096496582031
                    },
                    "rotation": {
                        "roll": -0.08666989207267761,
                        "pitch": -0.09090981632471085,
                        "yaw": -86.76055908203125
                    }
                },
                "velocity": {
                    "x": 0.3807946741580963,
                    "y": -4.523294448852539,
                    "z": -0.005465955473482609
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012390187475830317,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 6.207227670529392e-06,
                    "y": -5.93089953326853e-06,
                    "z": 0.0012389890616759658
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.758411761140451e-05,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15251275897026062
                    }
                },
                "velocity": {
                    "x": 9.530186616757419e-06,
                    "y": 2.0839099761360558e-06,
                    "z": 9.709527512313798e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.991805076599121,
                "transform": {
                    "location": {
                        "x": -174.56796264648438,
                        "y": 4288.4541015625,
                        "z": 373.0753173828125
                    },
                    "rotation": {
                        "roll": 0.13386255502700806,
                        "pitch": -0.3060266077518463,
                        "yaw": -90.002685546875
                    }
                },
                "velocity": {
                    "x": 0.002917743753641844,
                    "y": -7.991733074188232,
                    "z": -0.03378228098154068
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006726910942234099,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 9.14104293769924e-06,
                    "y": 6.854161256342195e-06,
                    "z": -0.0006725940620526671
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.3096386939869262e-05,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 7.702745278947987e-06,
                    "y": -2.1212430510786362e-05,
                    "z": 4.9136147026729304e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00012931441597174853,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 7.5316429501981474e-06,
                    "y": 1.7189769323522341e-06,
                    "z": 0.0001290834479732439
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.027057647705078,
                "transform": {
                    "location": {
                        "x": -219.3573455810547,
                        "y": 4295.56298828125,
                        "z": 373.24700927734375
                    },
                    "rotation": {
                        "roll": 0.00040984302177093923,
                        "pitch": 0.024855056777596474,
                        "yaw": 179.6372833251953
                    }
                },
                "velocity": {
                    "x": -8.026849746704102,
                    "y": 0.04806636646389961,
                    "z": 0.031947508454322815
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005542511353269219,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0005491471383720636,
                        "pitch": 0.2251298576593399,
                        "yaw": 179.44500732421875
                    }
                },
                "velocity": {
                    "x": 1.5077926036610734e-05,
                    "y": 4.220360642648302e-05,
                    "z": 0.0005524362786673009
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.261557867517695e-05,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 7.646567610208876e-06,
                    "y": 2.5584013130242056e-08,
                    "z": 3.170654963469133e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008536916575394571,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 5.955286269454518e-06,
                    "y": -1.9927843823097646e-05,
                    "z": -0.0008534382795915008
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0028911447152495384,
                "transform": {
                    "location": {
                        "x": -235.95452880859375,
                        "y": 4295.66943359375,
                        "z": 373.34918212890625
                    },
                    "rotation": {
                        "roll": 0.0008956475649029016,
                        "pitch": -0.11120230704545975,
                        "yaw": 179.7678985595703
                    }
                },
                "velocity": {
                    "x": 0.002134243957698345,
                    "y": -0.00023626722395420074,
                    "z": 0.0019359489670023322
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002265899529447779,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 2.6661491574486718e-05,
                    "y": 5.2080413297517225e-05,
                    "z": -0.00021890593052376062
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012380752013996243,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.84332275390625
                    },
                    "rotation": {
                        "roll": -0.0015869139460846782,
                        "pitch": 0.22535525262355804,
                        "yaw": 179.1482696533203
                    }
                },
                "velocity": {
                    "x": 1.0505802492843941e-05,
                    "y": -2.391675479884725e-05,
                    "z": 0.00123779964633286
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9579499959945679,
                "transform": {
                    "location": {
                        "x": -174.56179809570312,
                        "y": 4349.07275390625,
                        "z": 373.1188049316406
                    },
                    "rotation": {
                        "roll": -0.0018920903094112873,
                        "pitch": 0.06987283378839493,
                        "yaw": -89.98724365234375
                    }
                },
                "velocity": {
                    "x": 0.030896369367837906,
                    "y": -1.9577044248580933,
                    "z": 0.0026506518479436636
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0017274207202717662,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 2.1596923033939674e-05,
                    "y": 1.4406279660761356e-05,
                    "z": 0.0017272256081923842
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.040247823577374e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 6.919391125848051e-06,
                    "y": 2.560309212640277e-06,
                    "z": -9.01009188964963e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003896191774401814,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 1.0766535524453502e-05,
                    "y": 1.4571113752026577e-05,
                    "z": 0.00038919769576750696
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.5878758606268093e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 9.598694305168465e-06,
                    "y": -2.0593997760443017e-06,
                    "z": -2.394439434283413e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.822351932525635,
                "transform": {
                    "location": {
                        "x": -174.48593139648438,
                        "y": 4328.87744140625,
                        "z": 373.1189880371094
                    },
                    "rotation": {
                        "roll": 2.1813748389831744e-05,
                        "pitch": -0.007964000105857849,
                        "yaw": -89.98843383789062
                    }
                },
                "velocity": {
                    "x": 0.0009112906409427524,
                    "y": -6.822351455688477,
                    "z": -0.002476768335327506
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3487970530986786,
        "expert_target_speed": 10.0,
        "target_point": [
            20.06450996291459,
            0.8795835468916827
        ],
        "target_point_next": [
            31.059602462560044,
            1.207489488969858
        ]
    },
    "755": {
        "acceleration": [
            0.1560671627521515,
            0.015092198736965656,
            -0.0013937009498476982
        ],
        "angular_velocity": [
            0.02178860828280449,
            -0.04066115990281105,
            -0.026771681383252144
        ],
        "forward_vector": [
            -0.9993554949760437,
            0.035729605704545975,
            0.0034774469677358866
        ],
        "right_vector": [
            -0.03572931885719299,
            -0.999361515045166,
            0.000144875084515661
        ],
        "location": [
            -166.24679565429688,
            4292.37939453125,
            373.05462646484375
        ],
        "rotation": [
            -0.00830078125,
            0.1992434412240982,
            177.952392578125
        ],
        "velocity": [
            -0.017411965876817703,
            0.00105769420042634,
            0.0017788790864869952
        ],
        "speed": 0.017444061244936044,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.27638626098633,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.4732926501892507e-05,
                -8.335677193826996e-06,
                0.0011422618990764022
            ],
            "speed_kmh": 0.004112594351720222,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.183677673339844,
                "transform": {
                    "location": {
                        "x": -174.27101135253906,
                        "y": 4310.72021484375,
                        "z": 373.1082458496094
                    },
                    "rotation": {
                        "roll": -0.0431823804974556,
                        "pitch": -0.13266275823116302,
                        "yaw": -85.7057113647461
                    }
                },
                "velocity": {
                    "x": 0.3864459991455078,
                    "y": -4.165788173675537,
                    "z": -0.005483884830027819
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.161024015862495e-05,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 2.0731016775243916e-05,
                    "y": -3.3320742659270763e-05,
                    "z": 7.155546336434782e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003203508094884455,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.21826551854610443,
                        "yaw": 0.15228699147701263
                    }
                },
                "velocity": {
                    "x": 1.2980289284314495e-05,
                    "y": 1.3197090993344318e-05,
                    "z": 0.00031981556094251573
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.040629386901855,
                "transform": {
                    "location": {
                        "x": -174.5663299560547,
                        "y": 4286.45068359375,
                        "z": 373.0649108886719
                    },
                    "rotation": {
                        "roll": 0.068470299243927,
                        "pitch": -0.3223917484283447,
                        "yaw": -89.98702239990234
                    }
                },
                "velocity": {
                    "x": 0.000859414110891521,
                    "y": -8.040533065795898,
                    "z": -0.03946861997246742
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001609505998203531,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 8.743553735257592e-06,
                    "y": 1.953584978764411e-05,
                    "z": -0.0001595211506355554
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00017660664161667228,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 9.295605195802636e-06,
                    "y": -7.056166941765696e-05,
                    "z": 0.00016163090185727924
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.947889909904916e-06,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 7.836520126147661e-06,
                    "y": 1.92517768482503e-06,
                    "z": 3.866184670187067e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.128838539123535,
                "transform": {
                    "location": {
                        "x": -221.1697540283203,
                        "y": 4295.57373046875,
                        "z": 373.2539367675781
                    },
                    "rotation": {
                        "roll": 0.00010540523362578824,
                        "pitch": -0.05703890696167946,
                        "yaw": 179.70347595214844
                    }
                },
                "velocity": {
                    "x": -6.128694534301758,
                    "y": 0.034484732896089554,
                    "z": 0.024033021181821823
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009484065813012421,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0005491471383720636,
                        "pitch": 0.2251298576593399,
                        "yaw": 179.44500732421875
                    }
                },
                "velocity": {
                    "x": 4.337094651418738e-06,
                    "y": -2.7733496608561836e-05,
                    "z": 0.0009479910950176418
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011423872783780098,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.4732926501892507e-05,
                    "y": -8.335677193826996e-06,
                    "z": 0.0011422618990764022
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003195337485522032,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 9.285732630814891e-06,
                    "y": -1.8300916053703986e-05,
                    "z": -0.00031887408113107085
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015769773162901402,
                "transform": {
                    "location": {
                        "x": -235.95632934570312,
                        "y": 4295.66943359375,
                        "z": 373.34698486328125
                    },
                    "rotation": {
                        "roll": -0.0003967283118981868,
                        "pitch": 0.1508173942565918,
                        "yaw": 179.7678985595703
                    }
                },
                "velocity": {
                    "x": 0.0006283835973590612,
                    "y": 1.5503313989029266e-05,
                    "z": 0.0014462887775152922
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00022660286049358547,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": -3.7989764223311795e-06,
                    "y": -1.9197523215552792e-05,
                    "z": 0.0002257562446175143
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000702572928275913,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.84332275390625
                    },
                    "rotation": {
                        "roll": -0.0015869139460846782,
                        "pitch": 0.22535525262355804,
                        "yaw": 179.1482696533203
                    }
                },
                "velocity": {
                    "x": 5.420557954494143e-06,
                    "y": -2.062338899122551e-05,
                    "z": 0.0007022492936812341
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.986445903778076,
                "transform": {
                    "location": {
                        "x": -174.55789184570312,
                        "y": 4348.435546875,
                        "z": 373.1186218261719
                    },
                    "rotation": {
                        "roll": -0.0009460417204536498,
                        "pitch": 0.060918454080820084,
                        "yaw": -89.80701446533203
                    }
                },
                "velocity": {
                    "x": 0.02562778629362583,
                    "y": -2.986335277557373,
                    "z": -0.001760301529429853
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013203631388023496,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.3792141544399783e-05,
                    "y": -7.68288373365067e-06,
                    "z": 0.001320268725976348
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00013048687833361328,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 7.587633717776043e-06,
                    "y": -2.33167088481423e-06,
                    "z": 0.0001302452146774158
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.351591870654374e-05,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 1.1568888567126123e-06,
                    "y": 7.244848802656634e-06,
                    "z": 9.322768164565787e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002897551457863301,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 4.884488589596003e-06,
                    "y": 2.7383339329389855e-05,
                    "z": 0.0002884169516619295
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.874537467956543,
                "transform": {
                    "location": {
                        "x": -174.48577880859375,
                        "y": 4327.12158203125,
                        "z": 373.1181945800781
                    },
                    "rotation": {
                        "roll": -0.00027465916355140507,
                        "pitch": -0.022000038996338844,
                        "yaw": -90.00688934326172
                    }
                },
                "velocity": {
                    "x": -0.0031861676834523678,
                    "y": -6.874536037445068,
                    "z": -0.002463168930262327
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34809330105781555,
        "expert_target_speed": 10.0,
        "target_point": [
            20.059682988933588,
            0.878903099223294
        ],
        "target_point_next": [
            31.05478377202789,
            1.2065311691577123
        ]
    },
    "760": {
        "acceleration": [
            -0.24903026223182678,
            -0.010934908874332905,
            0.00376205425709486
        ],
        "angular_velocity": [
            -0.010040879249572754,
            0.04646708816289902,
            0.03786696866154671
        ],
        "forward_vector": [
            -0.9993578195571899,
            0.035663604736328125,
            0.0034763740841299295
        ],
        "right_vector": [
            -0.03566337376832962,
            -0.9993638396263123,
            0.00012889623758383095
        ],
        "location": [
            -166.2527313232422,
            4292.37939453125,
            373.0546875
        ],
        "rotation": [
            -0.007385254371911287,
            0.1991819590330124,
            177.9561767578125
        ],
        "velocity": [
            -0.027737509459257126,
            0.00021193995780777186,
            0.001405849470756948
        ],
        "speed": 0.027738319155062263,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.270450592041016,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.310377779707778e-06,
                -7.023405942163663e-06,
                0.00026866651023738086
            ],
            "speed_kmh": 0.0009679923000498057,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.206454277038574,
                "transform": {
                    "location": {
                        "x": -174.17007446289062,
                        "y": 4309.66455078125,
                        "z": 373.1068420410156
                    },
                    "rotation": {
                        "roll": -0.0295715294778347,
                        "pitch": -0.09082102030515671,
                        "yaw": -85.05089569091797
                    }
                },
                "velocity": {
                    "x": 0.4100216329097748,
                    "y": -4.1864190101623535,
                    "z": -0.005949277896434069
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010791406966745853,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 1.147866259998409e-05,
                    "y": -1.2421314750099555e-05,
                    "z": 0.0010790080996230245
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00016867883095983416,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.21826551854610443,
                        "yaw": 0.15228699147701263
                    }
                },
                "velocity": {
                    "x": 9.245239198207855e-06,
                    "y": 3.8002549445081968e-06,
                    "z": 0.0001683823938947171
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034379959106445,
                "transform": {
                    "location": {
                        "x": -174.564453125,
                        "y": 4284.4384765625,
                        "z": 373.0558776855469
                    },
                    "rotation": {
                        "roll": 0.03161287307739258,
                        "pitch": -0.18292611837387085,
                        "yaw": -89.94286346435547
                    }
                },
                "velocity": {
                    "x": 0.00929967500269413,
                    "y": -8.03431224822998,
                    "z": -0.03156476467847824
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00022745932801626623,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": -2.6436894131620647e-06,
                    "y": 5.7332159485667944e-05,
                    "z": 0.00022009947861079127
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003130972618237138,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 1.2530088497442193e-05,
                    "y": -2.653216824910487e-06,
                    "z": 0.0003128351818304509
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.969527460867539e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 5.88547436564113e-06,
                    "y": -1.44265939638899e-07,
                    "z": 3.9256276068044826e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4249890446662903,
                "transform": {
                    "location": {
                        "x": -222.06265258789062,
                        "y": 4295.578125,
                        "z": 373.2564392089844
                    },
                    "rotation": {
                        "roll": -0.002532958984375,
                        "pitch": -0.5540785789489746,
                        "yaw": 179.76124572753906
                    }
                },
                "velocity": {
                    "x": -0.42498043179512024,
                    "y": 0.0022739178966730833,
                    "z": 0.001471242867410183
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013356390409171581,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0005491471383720636,
                        "pitch": 0.2251298576593399,
                        "yaw": 179.44500732421875
                    }
                },
                "velocity": {
                    "x": 1.95053216884844e-05,
                    "y": 7.186041784734698e-06,
                    "z": 0.0013354773400351405
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00026888673892244697,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.310377779707778e-06,
                    "y": -7.023405942163663e-06,
                    "z": 0.00026866651023738086
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003973275888711214,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 7.370002549578203e-06,
                    "y": -8.332584002346266e-06,
                    "z": -0.0003971718542743474
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007784229819662869,
                "transform": {
                    "location": {
                        "x": -235.9567108154297,
                        "y": 4295.66943359375,
                        "z": 373.3465576171875
                    },
                    "rotation": {
                        "roll": 8.66548580233939e-05,
                        "pitch": 0.20722109079360962,
                        "yaw": 179.7678985595703
                    }
                },
                "velocity": {
                    "x": 3.0950082873459905e-05,
                    "y": 8.561322033528995e-07,
                    "z": 0.0007778069702908397
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.3112857131054625e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 9.68553104030434e-06,
                    "y": 1.029216218739748e-05,
                    "z": -5.119802153785713e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008348623523488641,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.84332275390625
                    },
                    "rotation": {
                        "roll": -0.0015869139460846782,
                        "pitch": 0.22535525262355804,
                        "yaw": 179.1482696533203
                    }
                },
                "velocity": {
                    "x": 1.1149159945489373e-05,
                    "y": -1.5891477289642353e-07,
                    "z": 0.0008347879047505558
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.760603904724121,
                "transform": {
                    "location": {
                        "x": -174.5516357421875,
                        "y": 4347.58544921875,
                        "z": 373.1187438964844
                    },
                    "rotation": {
                        "roll": 0.0004450913402251899,
                        "pitch": 0.04953936114907265,
                        "yaw": -89.67523193359375
                    }
                },
                "velocity": {
                    "x": 0.033214595168828964,
                    "y": -3.7604568004608154,
                    "z": 0.001729516894556582
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000917574972845614,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 6.4085793383128475e-06,
                    "y": -1.1788735719164833e-05,
                    "z": 0.0009174768929369748
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001531935267848894,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 8.055455509747844e-06,
                    "y": -2.7637418043013895e-07,
                    "z": 0.00015298134530894458
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002499041147530079,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 5.650929779221769e-06,
                    "y": -4.505553988565225e-06,
                    "z": -0.00024979960289783776
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004117164062336087,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 8.295662155433092e-06,
                    "y": 3.218254278181121e-05,
                    "z": 0.0004103728279005736
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.5040364265441895,
                "transform": {
                    "location": {
                        "x": -174.48577880859375,
                        "y": 4325.45947265625,
                        "z": 373.1174011230469
                    },
                    "rotation": {
                        "roll": -0.00018310781160835177,
                        "pitch": -0.045106567442417145,
                        "yaw": -90.02611541748047
                    }
                },
                "velocity": {
                    "x": -0.0032166976016014814,
                    "y": -6.50403356552124,
                    "z": -0.005177049431949854
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34866422414779663,
        "expert_target_speed": 10.0,
        "target_point": [
            20.053808887461813,
            0.8773714117474587
        ],
        "target_point_next": [
            31.048931205833952,
            1.204275964552671
        ]
    },
    "765": {
        "acceleration": [
            0.17884217202663422,
            0.012225814163684845,
            0.005397414788603783
        ],
        "angular_velocity": [
            0.01210755854845047,
            -0.030974918976426125,
            0.0027923232410103083
        ],
        "forward_vector": [
            -0.9993564486503601,
            0.03570220246911049,
            0.003470055991783738
        ],
        "right_vector": [
            -0.03570197522640228,
            -0.9993624687194824,
            0.00012836356472689658
        ],
        "location": [
            -166.25843811035156,
            4292.37939453125,
            373.0546875
        ],
        "rotation": [
            -0.007354734931141138,
            0.19881996512413025,
            177.95396423339844
        ],
        "velocity": [
            -0.018451081588864326,
            0.0009590449626557529,
            0.0017890739254653454
        ],
        "speed": 0.018475989257393594,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.26474380493164,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2338384294707794e-05,
                -1.461353440390667e-05,
                0.0010436897864565253
            ],
            "speed_kmh": 0.0037579140400800883,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.207898139953613,
                "transform": {
                    "location": {
                        "x": -174.064208984375,
                        "y": 4308.64892578125,
                        "z": 373.10546875
                    },
                    "rotation": {
                        "roll": -0.0880126804113388,
                        "pitch": -0.08743324875831604,
                        "yaw": -84.45232391357422
                    }
                },
                "velocity": {
                    "x": 0.5635287165641785,
                    "y": -4.16998815536499,
                    "z": -0.006408176384866238
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009571877890266478,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 2.106945976265706e-05,
                    "y": 2.5700974219944328e-05,
                    "z": 0.0009566106600686908
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.465564289712347e-06,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.002288818359375,
                        "pitch": -0.21826551854610443,
                        "yaw": 0.1522594690322876
                    }
                },
                "velocity": {
                    "x": 7.430202913383255e-06,
                    "y": 8.641657700536598e-07,
                    "z": 5.80018968321383e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018774032592773,
                "transform": {
                    "location": {
                        "x": -174.56210327148438,
                        "y": 4282.43310546875,
                        "z": 373.0498046875
                    },
                    "rotation": {
                        "roll": -0.007843016646802425,
                        "pitch": -0.14831754565238953,
                        "yaw": -89.93749237060547
                    }
                },
                "velocity": {
                    "x": 0.01027747057378292,
                    "y": -8.018739700317383,
                    "z": -0.02109159342944622
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.050958422245458e-05,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 2.4195238438551314e-05,
                    "y": 2.7766383936977945e-05,
                    "z": 7.15919813956134e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003189016424585134,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 7.474049652955728e-06,
                    "y": 2.761371433734894e-06,
                    "z": 0.0003188020782545209
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.2502499379916117e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 7.978677786013577e-06,
                    "y": -1.3777003005088773e-05,
                    "z": 2.8336326067801565e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2806150913238525,
                "transform": {
                    "location": {
                        "x": -222.23287963867188,
                        "y": 4295.5791015625,
                        "z": 373.2580261230469
                    },
                    "rotation": {
                        "roll": 0.0004063915694132447,
                        "pitch": 0.08014543354511261,
                        "yaw": 179.80714416503906
                    }
                },
                "velocity": {
                    "x": -1.2805943489074707,
                    "y": 0.005375728476792574,
                    "z": 0.004921207204461098
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013169803423807025,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0005491471383720636,
                        "pitch": 0.2251298576593399,
                        "yaw": 179.44500732421875
                    }
                },
                "velocity": {
                    "x": 7.308721251320094e-06,
                    "y": -1.2522806173365097e-05,
                    "z": 0.0013169004814699292
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010438649915158749,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2338384294707794e-05,
                    "y": -1.461353440390667e-05,
                    "z": 0.0010436897864565253
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00014132275828160346,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 5.592145043920027e-06,
                    "y": 9.070427950064186e-06,
                    "z": -0.00014092047058511525
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012312913313508034,
                "transform": {
                    "location": {
                        "x": -235.956787109375,
                        "y": 4295.66943359375,
                        "z": 373.346435546875
                    },
                    "rotation": {
                        "roll": -0.0016784662147983909,
                        "pitch": 0.21820403635501862,
                        "yaw": 179.7678985595703
                    }
                },
                "velocity": {
                    "x": 4.5265143853612244e-05,
                    "y": 2.1076386474305764e-05,
                    "z": 0.001230278518050909
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.959005986573175e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.3594403753813822e-05,
                    "y": -3.1666288123233244e-05,
                    "z": 6.045837653800845e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016748046036809683,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.84332275390625
                    },
                    "rotation": {
                        "roll": -0.0015869139460846782,
                        "pitch": 0.22535525262355804,
                        "yaw": 179.1482696533203
                    }
                },
                "velocity": {
                    "x": 1.9350050934008323e-05,
                    "y": 2.459097231621854e-06,
                    "z": 0.0016746909823268652
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.497747898101807,
                "transform": {
                    "location": {
                        "x": -174.54319763183594,
                        "y": 4346.55029296875,
                        "z": 373.1192626953125
                    },
                    "rotation": {
                        "roll": -0.0005798341589979827,
                        "pitch": 0.04173245280981064,
                        "yaw": -89.58629608154297
                    }
                },
                "velocity": {
                    "x": 0.040563736110925674,
                    "y": -4.497564315795898,
                    "z": 0.002120008459314704
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011463687987998128,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.3966671758680604e-05,
                    "y": 1.1809209354396444e-05,
                    "z": 0.0011462228139862418
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00013750302605330944,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 8.162483027263079e-06,
                    "y": -3.812860768448445e-06,
                    "z": 0.0001372075785184279
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00019241933478042483,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 8.847676326695364e-06,
                    "y": 1.6343965398846194e-06,
                    "z": 0.00019220887043047696
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00011915584764210507,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 9.92618515738286e-06,
                    "y": 1.617319867364131e-06,
                    "z": 0.00011873066978296265
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.819547176361084,
                "transform": {
                    "location": {
                        "x": -174.4860076904297,
                        "y": 4323.8994140625,
                        "z": 373.11639404296875
                    },
                    "rotation": {
                        "roll": 0.0001556936913402751,
                        "pitch": -0.05886939540505409,
                        "yaw": -90.03241729736328
                    }
                },
                "velocity": {
                    "x": -0.004144847393035889,
                    "y": -5.819543361663818,
                    "z": -0.005255794618278742
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3478092849254608,
        "expert_target_speed": 10.0,
        "target_point": [
            20.048071836208912,
            0.8779422204132905
        ],
        "target_point_next": [
            31.043181520080527,
            1.2052714464878709
        ]
    },
    "770": {
        "acceleration": [
            -0.17647027969360352,
            -0.019947964698076248,
            -0.0023601530119776726
        ],
        "angular_velocity": [
            -0.05407672002911568,
            0.04003484547138214,
            0.06713477522134781
        ],
        "forward_vector": [
            -0.9993588328361511,
            0.03563334420323372,
            0.0034791158977895975
        ],
        "right_vector": [
            -0.035633157938718796,
            -0.9993649125099182,
            0.00011558049300219864
        ],
        "location": [
            -166.26467895507812,
            4292.37939453125,
            373.0547180175781
        ],
        "rotation": [
            -0.006622314918786287,
            0.19933906197547913,
            177.95791625976562
        ],
        "velocity": [
            -0.028287088498473167,
            2.3694303308730014e-05,
            0.0011269188253208995
        ],
        "speed": 0.028287098422080378,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.25850296020508,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.4337711036205292e-05,
                1.8742970496532507e-05,
                0.0011572809889912605
            ],
            "speed_kmh": 0.004167077607472976,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.39327335357666,
                "transform": {
                    "location": {
                        "x": -173.82757568359375,
                        "y": 4307.4716796875,
                        "z": 373.1041259765625
                    },
                    "rotation": {
                        "roll": -0.41937255859375,
                        "pitch": 0.09890113025903702,
                        "yaw": -80.46874237060547
                    }
                },
                "velocity": {
                    "x": 1.3722519874572754,
                    "y": -5.215773582458496,
                    "z": -0.005320110358297825
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007995141786523163,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 1.2825577869080007e-05,
                    "y": 3.2265738809655886e-06,
                    "z": 0.0007994048064574599
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002198930742451921,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446775015443563,
                        "pitch": -0.21820403635501862,
                        "yaw": 0.15225690603256226
                    }
                },
                "velocity": {
                    "x": 1.4230385204427876e-05,
                    "y": -2.0850518467341317e-06,
                    "z": 0.00021942223247606307
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03679084777832,
                "transform": {
                    "location": {
                        "x": -174.55844116210938,
                        "y": 4280.42529296875,
                        "z": 373.0447082519531
                    },
                    "rotation": {
                        "roll": -0.005706788040697575,
                        "pitch": -0.14605675637722015,
                        "yaw": -89.89381408691406
                    }
                },
                "velocity": {
                    "x": 0.014160686172544956,
                    "y": -8.036748886108398,
                    "z": -0.021739153191447258
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003289290762040764,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 1.1125691344204824e-05,
                    "y": -2.9185544917709194e-05,
                    "z": 0.0003274427726864815
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.2557062038686126e-05,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 1.3336278243514244e-05,
                    "y": -3.0267215151980054e-06,
                    "z": -1.7938888049684465e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.496357961324975e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.131194368208526e-06,
                    "y": -2.151401076844195e-06,
                    "z": 9.47410226217471e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2601306438446045,
                "transform": {
                    "location": {
                        "x": -222.677734375,
                        "y": 4295.5810546875,
                        "z": 373.2601013183594
                    },
                    "rotation": {
                        "roll": 0.0021651554852724075,
                        "pitch": 0.31661340594291687,
                        "yaw": 179.7739715576172
                    }
                },
                "velocity": {
                    "x": -2.260082483291626,
                    "y": 0.012230039574205875,
                    "z": 0.00827681552618742
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001073530875146389,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0005491471383720636,
                        "pitch": 0.2251298576593399,
                        "yaw": 179.44500732421875
                    }
                },
                "velocity": {
                    "x": 1.9070430425927043e-05,
                    "y": -2.9617878681165166e-05,
                    "z": 0.0010729527566581964
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001157521503046155,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.4337711036205292e-05,
                    "y": 1.8742970496532507e-05,
                    "z": 0.0011572809889912605
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003254342300351709,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 6.47403294351534e-06,
                    "y": -3.462565018708119e-06,
                    "z": -0.00032535140053369105
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004423926293384284,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.346435546875
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.2207312136888504,
                        "yaw": 179.7678985595703
                    }
                },
                "velocity": {
                    "x": -2.5336406906717457e-05,
                    "y": -9.728986697155051e-06,
                    "z": -0.0004415593284647912
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.59719405323267e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 4.294402970117517e-06,
                    "y": -5.3491541621042415e-05,
                    "z": 5.377684283303097e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001275594113394618,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.84332275390625
                    },
                    "rotation": {
                        "roll": -0.0015869139460846782,
                        "pitch": 0.22535525262355804,
                        "yaw": 179.1482696533203
                    }
                },
                "velocity": {
                    "x": 7.1200724960363004e-06,
                    "y": 1.7067370208678767e-05,
                    "z": 0.0012754601193591952
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.258955001831055,
                "transform": {
                    "location": {
                        "x": -174.53250122070312,
                        "y": 4345.32470703125,
                        "z": 373.1199951171875
                    },
                    "rotation": {
                        "roll": -3.0515742764691822e-05,
                        "pitch": 0.0358448326587677,
                        "yaw": -89.52630615234375
                    }
                },
                "velocity": {
                    "x": 0.04824071750044823,
                    "y": -5.258732795715332,
                    "z": 0.003464403096586466
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008626113412901759,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.7793810911825858e-05,
                    "y": 2.6897310817730613e-05,
                    "z": 0.0008620082517154515
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00017646775813773274,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 7.649138751730788e-06,
                    "y": 1.0706228295020992e-06,
                    "z": 0.00017629863577894866
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00024669725098647177,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 1.7198547084262827e-06,
                    "y": 5.7172237575287e-06,
                    "z": -0.0002466249861754477
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00018781663675326854,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": -4.2267142816854175e-06,
                    "y": 7.60048862957774e-07,
                    "z": 0.00018776753859128803
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.880868911743164,
                "transform": {
                    "location": {
                        "x": -174.48670959472656,
                        "y": 4322.46337890625,
                        "z": 373.1151428222656
                    },
                    "rotation": {
                        "roll": -0.0001831061381381005,
                        "pitch": -0.04639064148068428,
                        "yaw": -90.03765106201172
                    }
                },
                "velocity": {
                    "x": -0.003861746983602643,
                    "y": -5.88086462020874,
                    "z": -0.005986757110804319
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3486016094684601,
        "expert_target_speed": 10.0,
        "target_point": [
            20.041895609033336,
            0.8763336857873432
        ],
        "target_point_next": [
            31.037027898620703,
            1.2029026939360359
        ]
    },
    "775": {
        "acceleration": [
            0.18862701952457428,
            0.017085054889321327,
            -0.0019731512293219566
        ],
        "angular_velocity": [
            0.02513519488275051,
            -0.04863269254565239,
            -0.03679554909467697
        ],
        "forward_vector": [
            -0.9993608593940735,
            0.035578783601522446,
            0.0034730362240225077
        ],
        "right_vector": [
            -0.03557850047945976,
            -0.9993668794631958,
            0.00014274455315899104
        ],
        "location": [
            -166.27093505859375,
            4292.37939453125,
            373.0547180175781
        ],
        "rotation": [
            -0.008178710006177425,
            0.19899071753025055,
            177.96104431152344
        ],
        "velocity": [
            -0.02031017653644085,
            0.0009639636264182627,
            0.001630058279260993
        ],
        "speed": 0.020333039537030608,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.25224304199219,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.4292988777160645,
                "transform": {
                    "location": {
                        "x": -173.3671875,
                        "y": 4306.20751953125,
                        "z": 373.1021728515625
                    },
                    "rotation": {
                        "roll": -0.6479491591453552,
                        "pitch": -0.024991661310195923,
                        "yaw": -72.43862915039062
                    }
                },
                "velocity": {
                    "x": 2.305652379989624,
                    "y": -4.915403842926025,
                    "z": -0.007693710271269083
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010078914929181337,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.21234130859375
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": -0.22543038427829742,
                        "yaw": 0.2019934207201004
                    }
                },
                "velocity": {
                    "x": 2.349685746594332e-05,
                    "y": 4.1893916204571724e-05,
                    "z": 0.0010067463153973222
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.981683302205056e-05,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446775015443563,
                        "pitch": -0.21820403635501862,
                        "yaw": 0.15225690603256226
                    }
                },
                "velocity": {
                    "x": 3.5924090298067313e-06,
                    "y": -8.186448212654795e-06,
                    "z": 7.93145882198587e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026572227478027,
                "transform": {
                    "location": {
                        "x": -174.55453491210938,
                        "y": 4278.41748046875,
                        "z": 373.0395202636719
                    },
                    "rotation": {
                        "roll": -0.0029602102003991604,
                        "pitch": -0.1523132175207138,
                        "yaw": -89.91100311279297
                    }
                },
                "velocity": {
                    "x": 0.014510313980281353,
                    "y": -8.026529312133789,
                    "z": -0.0218969713896513
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00016726266767363995,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 1.1031962458218914e-05,
                    "y": 2.663726945684175e-06,
                    "z": -0.00016687720199115574
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00022294075461104512,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 7.030107099126326e-06,
                    "y": -3.300933167338371e-05,
                    "z": 0.00022037136659491807
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00012955072452314198,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 8.237845577241387e-06,
                    "y": -1.2802914170606527e-05,
                    "z": 0.00012865307508036494
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0031125450041145086,
                "transform": {
                    "location": {
                        "x": -223.06991577148438,
                        "y": 4295.58349609375,
                        "z": 373.2610778808594
                    },
                    "rotation": {
                        "roll": -0.0010986325796693563,
                        "pitch": -0.04925249144434929,
                        "yaw": 179.8534393310547
                    }
                },
                "velocity": {
                    "x": -0.002948623849079013,
                    "y": 8.073509525274858e-05,
                    "z": 0.0009934959234669805
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0018680784851312637,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0005491471383720636,
                        "pitch": 0.2251298576593399,
                        "yaw": 179.44500732421875
                    }
                },
                "velocity": {
                    "x": 2.084832522086799e-05,
                    "y": 1.646306918701157e-05,
                    "z": 0.0018678895430639386
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010525169782340527,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.000885296321939677,
                        "pitch": 0.22170792520046234,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 4.555433861241909e-06,
                    "y": -6.221561307029333e-06,
                    "z": -0.0010524886893108487
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.6542755222180858e-05,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.346435546875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": 0.22167377173900604,
                        "yaw": 179.76791381835938
                    }
                },
                "velocity": {
                    "x": 7.735155122645665e-06,
                    "y": -9.802535714698024e-06,
                    "z": -2.3422115191351622e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008018555818125606,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.2935101949551608e-05,
                    "y": -2.969220258819405e-05,
                    "z": 0.0008012012694962323
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012872368097305298,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.84332275390625
                    },
                    "rotation": {
                        "roll": -0.0015869139460846782,
                        "pitch": 0.22535525262355804,
                        "yaw": 179.1482696533203
                    }
                },
                "velocity": {
                    "x": 7.747709787508938e-06,
                    "y": -8.539510417904239e-06,
                    "z": 0.0012871852377429605
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.799663066864014,
                "transform": {
                    "location": {
                        "x": -174.5203857421875,
                        "y": 4343.96533203125,
                        "z": 373.1203918457031
                    },
                    "rotation": {
                        "roll": -0.00015258703206200153,
                        "pitch": 0.029923057183623314,
                        "yaw": -89.48484802246094
                    }
                },
                "velocity": {
                    "x": 0.054570578038692474,
                    "y": -5.799405574798584,
                    "z": 0.0018244934035465121
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015203090151771903,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 8.702091690793168e-06,
                    "y": -3.9320697396760806e-05,
                    "z": 0.0015197754837572575
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.259043296566233e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 8.469111890008207e-06,
                    "y": -6.443924007726309e-07,
                    "z": 3.1464191124541685e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4157164514472242e-05,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 7.52955656935228e-06,
                    "y": -1.0405677130620461e-05,
                    "z": -5.9542403505474795e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003210388822481036,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 9.085051715373993e-06,
                    "y": -2.5577865017112345e-06,
                    "z": 0.0003209001151844859
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.901788234710693,
                "transform": {
                    "location": {
                        "x": -174.4883575439453,
                        "y": 4320.9609375,
                        "z": 373.1138916015625
                    },
                    "rotation": {
                        "roll": -0.00012206965038785711,
                        "pitch": -0.04674581065773964,
                        "yaw": -90.04070281982422
                    }
                },
                "velocity": {
                    "x": -0.005260218400508165,
                    "y": -5.901783466339111,
                    "z": -0.005620288662612438
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3479278087615967,
        "expert_target_speed": 10.0,
        "target_point": [
            20.03569107382031,
            0.8750216334782166
        ],
        "target_point_next": [
            31.03084109926975,
            1.2009929519543125
        ]
    },
    "780": {
        "acceleration": [
            -0.27180951833724976,
            -0.01012759655714035,
            0.00181922921910882
        ],
        "angular_velocity": [
            -0.024371249601244926,
            0.048192646354436874,
            0.06048909202218056
        ],
        "forward_vector": [
            -0.9993631839752197,
            0.03551254794001579,
            0.0034741091076284647
        ],
        "right_vector": [
            -0.035512324422597885,
            -0.999369204044342,
            0.0001251678040716797
        ],
        "location": [
            -166.2763214111328,
            4292.37939453125,
            373.05474853515625
        ],
        "rotation": [
            -0.007171629928052425,
            0.19905218482017517,
            177.96484375
        ],
        "velocity": [
            -0.02976761758327484,
            0.00033070752397179604,
            0.0015910147922113538
        ],
        "speed": 0.02976945454741328,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.24686050415039,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2845135643146932e-05,
                -3.407476256711561e-08,
                0.0011752117425203323
            ],
            "speed_kmh": 0.004231014983905492,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.276296138763428,
                "transform": {
                    "location": {
                        "x": -172.52999877929688,
                        "y": 4304.91845703125,
                        "z": 373.0994567871094
                    },
                    "rotation": {
                        "roll": -1.1267393827438354,
                        "pitch": 0.1803511381149292,
                        "yaw": -59.57099914550781
                    }
                },
                "velocity": {
                    "x": 4.615609169006348,
                    "y": -5.62495231628418,
                    "z": -0.023330306634306908
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.175295079126954e-05,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 4.475999594433233e-05,
                    "y": 2.2962763978284784e-05,
                    "z": -6.444221799029037e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005270179244689643,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0021667478140443563,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.15222610533237457
                    }
                },
                "velocity": {
                    "x": 8.654706107336096e-06,
                    "y": -1.6522721125511453e-05,
                    "z": 0.0005266877706162632
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027586936950684,
                "transform": {
                    "location": {
                        "x": -174.5507049560547,
                        "y": 4276.41162109375,
                        "z": 373.03424072265625
                    },
                    "rotation": {
                        "roll": -0.0016479557380080223,
                        "pitch": -0.15387049317359924,
                        "yaw": -89.87932586669922
                    }
                },
                "velocity": {
                    "x": 0.015041169710457325,
                    "y": -8.027544975280762,
                    "z": -0.02117224596440792
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001554143673274666,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": -9.348615890303336e-07,
                    "y": 3.14519384119194e-05,
                    "z": -0.00015219568740576506
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00033836369402706623,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 1.0067336006613914e-05,
                    "y": -3.6986770282965153e-05,
                    "z": 0.00033618538873270154
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.001026096986607e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 7.248409019666724e-06,
                    "y": 1.1500113032525405e-05,
                    "z": 6.867782940389588e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3288382291793823,
                "transform": {
                    "location": {
                        "x": -223.27163696289062,
                        "y": 4295.58447265625,
                        "z": 373.2622985839844
                    },
                    "rotation": {
                        "roll": 0.00227576051838696,
                        "pitch": 0.26467666029930115,
                        "yaw": 179.8582000732422
                    }
                },
                "velocity": {
                    "x": -1.3288072347640991,
                    "y": 0.0074058230966329575,
                    "z": 0.005233955103904009
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00025088246911764145,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": 1.076438456948381e-05,
                        "pitch": 0.22672811150550842,
                        "yaw": 179.4451446533203
                    }
                },
                "velocity": {
                    "x": 7.219128292490495e-06,
                    "y": -2.219829912064597e-05,
                    "z": -0.0002497941895853728
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001175281940959394,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2845135643146932e-05,
                    "y": -3.407476256711561e-08,
                    "z": 0.0011752117425203323
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00030286586843430996,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.28997802734375
                    },
                    "rotation": {
                        "roll": 0.0011547044850885868,
                        "pitch": 0.22146204113960266,
                        "yaw": 179.66189575195312
                    }
                },
                "velocity": {
                    "x": 7.198303592304001e-06,
                    "y": 4.408252152643399e-06,
                    "z": -0.00030274823075160384
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008405194384977221,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.346435546875
                    },
                    "rotation": {
                        "roll": -0.001861572265625,
                        "pitch": 0.22183769941329956,
                        "yaw": 179.76791381835938
                    }
                },
                "velocity": {
                    "x": 1.3645290891872719e-05,
                    "y": 3.3663400245131925e-05,
                    "z": -0.0008397342171519995
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4332216778711881e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 6.604306236113189e-06,
                    "y": 1.2666382644965779e-05,
                    "z": 1.1654740319499979e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013446361990645528,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.84332275390625
                    },
                    "rotation": {
                        "roll": -0.0015869139460846782,
                        "pitch": 0.22535525262355804,
                        "yaw": 179.1482696533203
                    }
                },
                "velocity": {
                    "x": 2.0483657863223925e-05,
                    "y": 7.819040547474287e-06,
                    "z": 0.0013444573851302266
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.696959972381592,
                "transform": {
                    "location": {
                        "x": -174.51031494140625,
                        "y": 4342.42431640625,
                        "z": 373.1206970214844
                    },
                    "rotation": {
                        "roll": 0.001153946970589459,
                        "pitch": 0.035086680203676224,
                        "yaw": -89.58949279785156
                    }
                },
                "velocity": {
                    "x": 0.03340114653110504,
                    "y": -6.696876525878906,
                    "z": 0.0015463447198271751
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013148272410035133,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 7.67748770158505e-06,
                    "y": -7.503535471187206e-06,
                    "z": 0.0013147834688425064
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00011291341797914356,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 7.788576112943701e-06,
                    "y": -1.0180966683037695e-06,
                    "z": 0.00011263987835263833
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001737584825605154,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 6.817579105700133e-06,
                    "y": 2.0081561160623096e-06,
                    "z": 0.00017361306527163833
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.929714123136364e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 7.747374183963984e-06,
                    "y": 4.9524537644174416e-06,
                    "z": -4.843200804316439e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.4768524169921875,
                "transform": {
                    "location": {
                        "x": -174.4903106689453,
                        "y": 4319.54296875,
                        "z": 373.1127624511719
                    },
                    "rotation": {
                        "roll": 0.0005331419524736702,
                        "pitch": -0.0652761161327362,
                        "yaw": -90.04949951171875
                    }
                },
                "velocity": {
                    "x": -0.0050203208811581135,
                    "y": -5.476846694946289,
                    "z": -0.0059873866848647594
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3512420654296875,
        "expert_target_speed": 10.0,
        "target_point": [
            20.030366071581128,
            0.8735023752774216
        ],
        "target_point_next": [
            31.025537678377194,
            1.1987449304812319
        ]
    },
    "785": {
        "acceleration": [
            0.2105015516281128,
            0.015443114563822746,
            -0.0057371146976947784
        ],
        "angular_velocity": [
            0.04291728138923645,
            -0.06143634766340256,
            -0.02770923264324665
        ],
        "forward_vector": [
            -0.9993634223937988,
            0.03550635278224945,
            0.003463022643700242
        ],
        "right_vector": [
            -0.035506121814250946,
            -0.9993694424629211,
            0.00012783095007762313
        ],
        "location": [
            -166.28195190429688,
            4292.37939453125,
            373.0548095703125
        ],
        "rotation": [
            -0.007324217818677425,
            0.19841697812080383,
            177.96519470214844
        ],
        "velocity": [
            -0.01671396568417549,
            0.0008149629575200379,
            0.0006993865827098489
        ],
        "speed": 0.016733822441807066,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.24122619628906,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                6.8639960772998165e-06,
                1.6392499674111605e-05,
                0.00015095325943548232
            ],
            "speed_kmh": 0.0005471847829426236,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.230987548828125,
                "transform": {
                    "location": {
                        "x": -171.09437561035156,
                        "y": 4303.544921875,
                        "z": 373.09417724609375
                    },
                    "rotation": {
                        "roll": -1.2752686738967896,
                        "pitch": -0.022703547030687332,
                        "yaw": -43.46881103515625
                    }
                },
                "velocity": {
                    "x": 6.568178653717041,
                    "y": -4.960575580596924,
                    "z": -0.029540352523326874
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005655045388266444,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 2.4225935248978203e-06,
                    "y": 3.4099848562618718e-06,
                    "z": -0.0005654890555888414
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00011663782061077654,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0019531248835846782,
                        "pitch": -0.2184499353170395,
                        "yaw": 0.15221375226974487
                    }
                },
                "velocity": {
                    "x": -9.531862815492786e-06,
                    "y": 6.2796320889901835e-06,
                    "z": 0.00011607795022428036
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031606674194336,
                "transform": {
                    "location": {
                        "x": -174.54672241210938,
                        "y": 4274.40380859375,
                        "z": 373.0287780761719
                    },
                    "rotation": {
                        "roll": -0.0016479426994919777,
                        "pitch": -0.15848086774349213,
                        "yaw": -89.9056625366211
                    }
                },
                "velocity": {
                    "x": 0.015084152109920979,
                    "y": -8.031560897827148,
                    "z": -0.022242341190576553
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00035683283931575716,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 8.516311027051415e-06,
                    "y": -1.4595434549846686e-05,
                    "z": 0.0003564325161278248
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.68942734086886e-05,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 9.105279787036125e-06,
                    "y": 6.901638698764145e-06,
                    "z": -8.6139865743462e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6813848307938315e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 5.915313977311598e-06,
                    "y": -1.7893879089569964e-07,
                    "z": 2.6152618374908343e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2657952308654785,
                "transform": {
                    "location": {
                        "x": -223.73162841796875,
                        "y": 4295.58642578125,
                        "z": 373.26416015625
                    },
                    "rotation": {
                        "roll": 0.0009463350870646536,
                        "pitch": 0.3489611744880676,
                        "yaw": 179.92430114746094
                    }
                },
                "velocity": {
                    "x": -2.265756607055664,
                    "y": 0.009794571436941624,
                    "z": 0.008859634399414062
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00015687485574744642,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": 1.076438456948381e-05,
                        "pitch": 0.22672811150550842,
                        "yaw": 179.4451446533203
                    }
                },
                "velocity": {
                    "x": 4.934035132464487e-06,
                    "y": 6.663625754299574e-06,
                    "z": 0.00015665558748878539
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00015199577319435775,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 6.8639960772998165e-06,
                    "y": 1.6392499674111605e-05,
                    "z": 0.00015095325943548232
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006432160153053701,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0007972647435963154,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.6619110107422
                    }
                },
                "velocity": {
                    "x": 6.64357094137813e-06,
                    "y": 1.8207078028353862e-05,
                    "z": -0.0006429239292629063
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.22191967070102692,
                        "yaw": 179.76797485351562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00021497053967323154,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.8027349142357707e-05,
                    "y": 1.4979052139096893e-05,
                    "z": 0.0002136889670509845
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.512754331808537e-06,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 8.069276191235986e-06,
                    "y": 2.584472440503305e-07,
                    "z": 5.0311509767198e-06
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.583641529083252,
                "transform": {
                    "location": {
                        "x": -174.50140380859375,
                        "y": 4340.62890625,
                        "z": 373.1209716796875
                    },
                    "rotation": {
                        "roll": 0.0007480958593077958,
                        "pitch": 0.02855701930820942,
                        "yaw": -89.71290588378906
                    }
                },
                "velocity": {
                    "x": 0.031056689098477364,
                    "y": -7.583577632904053,
                    "z": 0.001688413554802537
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001136100385338068,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.5141665244300384e-05,
                    "y": 1.3746809599979315e-05,
                    "z": 0.0011359163327142596
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.832604751456529e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 7.191337317635771e-06,
                    "y": -2.657262257343973e-06,
                    "z": 7.794993871357292e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00011427352001192048,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 4.413276656123344e-06,
                    "y": 1.5853074728511274e-05,
                    "z": 0.00011308245302643627
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.493757685646415e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 8.201114724215586e-06,
                    "y": 2.481673391230288e-06,
                    "z": 3.3870597690111026e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.254371643066406,
                "transform": {
                    "location": {
                        "x": -174.4921875,
                        "y": 4318.2119140625,
                        "z": 373.11138916015625
                    },
                    "rotation": {
                        "roll": 0.00042616669088602066,
                        "pitch": -0.0635070949792862,
                        "yaw": -90.0515365600586
                    }
                },
                "velocity": {
                    "x": -0.004730103071779013,
                    "y": -5.254366397857666,
                    "z": -0.005916127935051918
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3513253331184387,
        "expert_target_speed": 10.0,
        "target_point": [
            20.02474454308473,
            0.8731782908145732
        ],
        "target_point_next": [
            31.01991816581011,
            1.1983526882291569
        ]
    },
    "790": {
        "acceleration": [
            -0.18920063972473145,
            0.0014317664317786694,
            0.0038620003033429384
        ],
        "angular_velocity": [
            -0.02813577838242054,
            0.055283140391111374,
            0.032666876912117004
        ],
        "forward_vector": [
            -0.9993649125099182,
            0.035464417189359665,
            0.0034724401775747538
        ],
        "right_vector": [
            -0.035464219748973846,
            -0.9993709325790405,
            0.00011771098797908053
        ],
        "location": [
            -166.28741455078125,
            4292.37939453125,
            373.0548095703125
        ],
        "rotation": [
            -0.006744383368641138,
            0.19895656406879425,
            177.9676055908203
        ],
        "velocity": [
            -0.02755846455693245,
            0.0008469541207887232,
            0.0009844398591667414
        ],
        "speed": 0.027571476203105683,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.23576736450195,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1089407053077593e-05,
                -8.957892532635015e-06,
                0.0011141736758872867
            ],
            "speed_kmh": 0.00401135352927235,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.899214744567871,
                "transform": {
                    "location": {
                        "x": -169.3406982421875,
                        "y": 4302.57568359375,
                        "z": 373.07958984375
                    },
                    "rotation": {
                        "roll": -1.4454344511032104,
                        "pitch": -0.5340865850448608,
                        "yaw": -27.212602615356445
                    }
                },
                "velocity": {
                    "x": 7.345634460449219,
                    "y": -2.9047579765319824,
                    "z": -0.04030293971300125
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000422532029915601,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 2.7692465664586052e-05,
                    "y": 5.5359287216560915e-06,
                    "z": -0.00042158723226748407
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0019531248835846782,
                        "pitch": -0.2184499353170395,
                        "yaw": 0.15221375226974487
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027640342712402,
                "transform": {
                    "location": {
                        "x": -174.54296875,
                        "y": 4272.39599609375,
                        "z": 373.023193359375
                    },
                    "rotation": {
                        "roll": -0.0036315806210041046,
                        "pitch": -0.16201891005039215,
                        "yaw": -89.86798095703125
                    }
                },
                "velocity": {
                    "x": 0.017593348398804665,
                    "y": -8.027592658996582,
                    "z": -0.021422619000077248
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.2404845367418602e-05,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 1.0585821655695327e-05,
                    "y": 1.1522343811520841e-05,
                    "z": -1.603599412192125e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00018488465866539627,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 1.6427002265118062e-05,
                    "y": 5.662667899741791e-05,
                    "z": -0.0001752310199663043
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00020047697762493044,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.298683274508221e-06,
                    "y": -1.8114034219252062e-06,
                    "z": 0.00020036981732118875
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00352868833579123,
                "transform": {
                    "location": {
                        "x": -224.12615966796875,
                        "y": 4295.587890625,
                        "z": 373.2652282714844
                    },
                    "rotation": {
                        "roll": -0.0027465817984193563,
                        "pitch": -0.03826954960823059,
                        "yaw": -179.95855712890625
                    }
                },
                "velocity": {
                    "x": -0.0034289683680981398,
                    "y": 0.00026423149392940104,
                    "z": 0.0007899367483332753
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00011045813880627975,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": 1.076438456948381e-05,
                        "pitch": 0.22672811150550842,
                        "yaw": 179.4451446533203
                    }
                },
                "velocity": {
                    "x": 1.4442540305026341e-05,
                    "y": 3.1216626666719094e-05,
                    "z": 0.00010496635513845831
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011142648290842772,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1089407053077593e-05,
                    "y": -8.957892532635015e-06,
                    "z": 0.0011141736758872867
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00047527739661745727,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0007972647435963154,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.6619110107422
                    }
                },
                "velocity": {
                    "x": 5.180239440960577e-06,
                    "y": -1.0474130931470427e-06,
                    "z": -0.00047524800174869597
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00023856981715653092,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.22191967070102692,
                        "yaw": 179.76797485351562
                    }
                },
                "velocity": {
                    "x": 1.062683713826118e-05,
                    "y": 8.607569725427311e-06,
                    "z": -0.00023817754117771983
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.011631244793534e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 5.929097369516967e-06,
                    "y": -2.7611609766609035e-05,
                    "z": -2.8491460398072377e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00033312622690573335,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 4.663392701331759e-06,
                    "y": -8.899420208763331e-06,
                    "z": 0.00033297468326054513
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.23956298828125,
                "transform": {
                    "location": {
                        "x": -174.49327087402344,
                        "y": 4338.6357421875,
                        "z": 373.12115478515625
                    },
                    "rotation": {
                        "roll": 0.0007734380778856575,
                        "pitch": 0.016556378453969955,
                        "yaw": -89.78631591796875
                    }
                },
                "velocity": {
                    "x": 0.023235972970724106,
                    "y": -8.239530563354492,
                    "z": 0.0016306113684549928
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001329683931544423,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.6000791219994426e-05,
                    "y": -1.4297913367045112e-05,
                    "z": 0.0013295108219608665
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6326248442055658e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 7.658079084649216e-06,
                    "y": -8.731863658795191e-07,
                    "z": 1.439228162780637e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00026277886354364455,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 1.1763237125705928e-05,
                    "y": 2.0043502445332706e-05,
                    "z": 0.00026174914091825485
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001431209093425423,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 3.280415967310546e-06,
                    "y": 1.2687000889854971e-05,
                    "z": 0.00014251972606871277
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.269167423248291,
                "transform": {
                    "location": {
                        "x": -174.4942169189453,
                        "y": 4316.89013671875,
                        "z": 373.1100158691406
                    },
                    "rotation": {
                        "roll": 3.770279363379814e-05,
                        "pitch": -0.05856204032897949,
                        "yaw": -90.04922485351562
                    }
                },
                "velocity": {
                    "x": -0.0044783977791666985,
                    "y": -5.269162654876709,
                    "z": -0.005647764075547457
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.35323938727378845,
        "expert_target_speed": 10.0,
        "target_point": [
            20.01932195533346,
            0.8721442884850394
        ],
        "target_point_next": [
            31.01450921323952,
            1.1968573097671873
        ]
    },
    "795": {
        "acceleration": [
            0.16405247151851654,
            0.004498791880905628,
            0.0016292580403387547
        ],
        "angular_velocity": [
            -0.039048999547958374,
            -0.025501029565930367,
            0.00156504032202065
        ],
        "forward_vector": [
            -0.9993642568588257,
            0.035483479499816895,
            0.003476612502709031
        ],
        "right_vector": [
            -0.03548319637775421,
            -0.999370276927948,
            0.00014274461136665195
        ],
        "location": [
            -166.2928924560547,
            4292.37939453125,
            373.0548095703125
        ],
        "rotation": [
            -0.00817871280014515,
            0.19919562339782715,
            177.9665069580078
        ],
        "velocity": [
            -0.0189229603856802,
            0.0009413299267180264,
            0.0010546684497967362
        ],
        "speed": 0.01894635932808615,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.230289459228516,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.012317807180807e-05,
                -5.064727702119853e-06,
                0.0005514119402505457
            ],
            "speed_kmh": 0.0019855012023043115,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.08216667175293,
                "transform": {
                    "location": {
                        "x": -167.42437744140625,
                        "y": 4302.09130859375,
                        "z": 373.0672302246094
                    },
                    "rotation": {
                        "roll": -1.2905272245407104,
                        "pitch": -0.3404507637023926,
                        "yaw": -12.910663604736328
                    }
                },
                "velocity": {
                    "x": 7.992414951324463,
                    "y": -1.1993331909179688,
                    "z": -0.06576962023973465
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001709505741018802,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": -1.5030391296022572e-05,
                    "y": -5.2325278375064954e-05,
                    "z": 0.0001620501425350085
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00024207842943724245,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": -0.21853189170360565,
                        "yaw": 0.15219087898731232
                    }
                },
                "velocity": {
                    "x": -6.857328116893768e-06,
                    "y": 1.6817019059089944e-05,
                    "z": 0.00024139622109942138
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029607772827148,
                "transform": {
                    "location": {
                        "x": -174.5389862060547,
                        "y": 4270.38818359375,
                        "z": 373.017578125
                    },
                    "rotation": {
                        "roll": -0.002075191820040345,
                        "pitch": -0.16161592304706573,
                        "yaw": -89.8890380859375
                    }
                },
                "velocity": {
                    "x": 0.017546307295560837,
                    "y": -8.029558181762695,
                    "z": -0.02197549305856228
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003848441119771451,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 4.29645160693326e-06,
                    "y": -9.929074622050393e-06,
                    "z": 0.0003846920153591782
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00014363008085638285,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 2.0158327970420942e-05,
                    "y": 1.527095264464151e-05,
                    "z": 0.00014138614642433822
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00019648302986752242,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 8.90567844180623e-06,
                    "y": 2.7656415113597177e-07,
                    "z": -0.0001962809037650004
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3173331022262573,
                "transform": {
                    "location": {
                        "x": -224.3250732421875,
                        "y": 4295.5888671875,
                        "z": 373.2663879394531
                    },
                    "rotation": {
                        "roll": 0.00174282758962363,
                        "pitch": 0.2603258192539215,
                        "yaw": 179.95147705078125
                    }
                },
                "velocity": {
                    "x": -1.3173054456710815,
                    "y": 0.007468645926564932,
                    "z": 0.004136695992201567
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8223403458250687e-05,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": 1.076438456948381e-05,
                        "pitch": 0.22672811150550842,
                        "yaw": 179.4451446533203
                    }
                },
                "velocity": {
                    "x": 7.380284387181746e-06,
                    "y": -5.308410777615791e-07,
                    "z": 1.665358831814956e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000551528122741729,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.012317807180807e-05,
                    "y": -5.064727702119853e-06,
                    "z": 0.0005514119402505457
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.200057446723804e-05,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0007972647435963154,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.6619110107422
                    }
                },
                "velocity": {
                    "x": 7.275529242178891e-06,
                    "y": 9.736773876056759e-08,
                    "z": -4.1365510696778074e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002847665746230632,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.22191967070102692,
                        "yaw": 179.76797485351562
                    }
                },
                "velocity": {
                    "x": 1.575075111759361e-05,
                    "y": -1.248558965016855e-05,
                    "z": 0.000284056382952258
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00046788580948486924,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": -1.0938570085272659e-06,
                    "y": -4.849582637689309e-06,
                    "z": -0.000467859412310645
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00034212777973152697,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 1.824040009523742e-05,
                    "y": -3.955606371164322e-05,
                    "z": 0.00033934350358322263
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.099420547485352,
                "transform": {
                    "location": {
                        "x": -174.4882049560547,
                        "y": 4336.58154296875,
                        "z": 373.1213684082031
                    },
                    "rotation": {
                        "roll": 0.0009258277132175863,
                        "pitch": -0.0018304905388504267,
                        "yaw": -89.88716888427734
                    }
                },
                "velocity": {
                    "x": 0.011704136617481709,
                    "y": -8.099411964416504,
                    "z": -0.001186590176075697
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013346942141652107,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.1935419934161473e-05,
                    "y": 1.323781020801107e-06,
                    "z": 0.001334640197455883
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001289786450797692,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 9.560472790326457e-06,
                    "y": 1.9151600554323522e-06,
                    "z": 0.00012860956485383213
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.810899064177647e-05,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 5.377419256547e-06,
                    "y": -3.751035535515257e-07,
                    "z": 9.796078666113317e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.8818207283620723e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 7.058456503727939e-06,
                    "y": -1.570444965182105e-06,
                    "z": 2.789625432342291e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.991702556610107,
                "transform": {
                    "location": {
                        "x": -174.4961700439453,
                        "y": 4315.61474609375,
                        "z": 373.10858154296875
                    },
                    "rotation": {
                        "roll": -3.0515759135596454e-05,
                        "pitch": -0.06970207393169403,
                        "yaw": -90.0434799194336
                    }
                },
                "velocity": {
                    "x": -0.00431039510294795,
                    "y": -4.991697788238525,
                    "z": -0.005394925829023123
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.351971834897995,
        "expert_target_speed": 10.0,
        "target_point": [
            20.013830861235014,
            0.8723317511879368
        ],
        "target_point_next": [
            31.009011923731684,
            1.197254488964846
        ]
    },
    "800": {
        "acceleration": [
            -0.13812240958213806,
            -0.0017559726256877184,
            0.0035179138649255037
        ],
        "angular_velocity": [
            0.0032176196109503508,
            0.03834041953086853,
            0.0046075209975242615
        ],
        "forward_vector": [
            -0.9993654489517212,
            0.03544749692082405,
            0.003486030036583543
        ],
        "right_vector": [
            -0.03544728830456734,
            -0.9993715286254883,
            0.00012143942149123177
        ],
        "location": [
            -166.2996063232422,
            4292.37939453125,
            373.0548400878906
        ],
        "rotation": [
            -0.006958008278161287,
            0.19973520934581757,
            177.96856689453125
        ],
        "velocity": [
            -0.028939932584762573,
            0.0007642849232070148,
            0.0010305213509127498
        ],
        "speed": 0.028950022961207546,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.223575592041016,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.3878903700970113e-05,
                1.5015425560704898e-05,
                0.0014420017832890153
            ],
            "speed_kmh": 0.005191728276841834,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.105894088745117,
                "transform": {
                    "location": {
                        "x": -165.39476013183594,
                        "y": 4301.9033203125,
                        "z": 373.0560607910156
                    },
                    "rotation": {
                        "roll": -0.795684814453125,
                        "pitch": -0.19039833545684814,
                        "yaw": -4.701509475708008
                    }
                },
                "velocity": {
                    "x": 8.096120834350586,
                    "y": -0.39721590280532837,
                    "z": -0.023648252710700035
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.108096855925396e-05,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 6.920844271007809e-07,
                    "y": 4.374491982161999e-05,
                    "z": -7.988520519575104e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.7581597755197436e-05,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.21829283237457275,
                        "yaw": 0.15217062830924988
                    }
                },
                "velocity": {
                    "x": 9.42580390983494e-06,
                    "y": 4.141187218920095e-06,
                    "z": 4.645442095352337e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029437065124512,
                "transform": {
                    "location": {
                        "x": -174.53515625,
                        "y": 4268.38037109375,
                        "z": 373.0117492675781
                    },
                    "rotation": {
                        "roll": -0.0020751995034515858,
                        "pitch": -0.1722710281610489,
                        "yaw": -89.85533905029297
                    }
                },
                "velocity": {
                    "x": 0.019401483237743378,
                    "y": -8.029378890991211,
                    "z": -0.02352294884622097
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002701688790693879,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 2.6812031137524173e-05,
                    "y": 1.6630676327622496e-05,
                    "z": 0.0002683202619664371
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00044276390690356493,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 1.1013038601959124e-05,
                    "y": -2.6214936951873824e-05,
                    "z": 0.00044184993021190166
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.385567833902314e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 8.572190381528344e-06,
                    "y": 1.1405670193198603e-05,
                    "z": 3.070236198254861e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1871392726898193,
                "transform": {
                    "location": {
                        "x": -224.7676544189453,
                        "y": 4295.5908203125,
                        "z": 373.2682189941406
                    },
                    "rotation": {
                        "roll": 0.001561419921927154,
                        "pitch": 0.3437907099723816,
                        "yaw": 179.8782958984375
                    }
                },
                "velocity": {
                    "x": -2.187103509902954,
                    "y": 0.010589979588985443,
                    "z": 0.006671009119600058
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00032648464548401535,
                "transform": {
                    "location": {
                        "x": -121.85952758789062,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": 0.22695350646972656,
                        "yaw": 179.44517517089844
                    }
                },
                "velocity": {
                    "x": 8.07218202680815e-06,
                    "y": -1.4384173482540064e-05,
                    "z": -0.00032606773311272264
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0014421467203646898,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.3878903700970113e-05,
                    "y": 1.5015425560704898e-05,
                    "z": 0.0014420017832890153
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.375055378768593e-05,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0007972647435963154,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.6619110107422
                    }
                },
                "velocity": {
                    "x": 6.553158073074883e-06,
                    "y": 1.7953055930775008e-06,
                    "z": -9.350400796392933e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012061325833201408,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.22191967070102692,
                        "yaw": 179.76797485351562
                    }
                },
                "velocity": {
                    "x": 1.0266006029269192e-05,
                    "y": 1.8125143469660543e-05,
                    "z": 0.0012059527216479182
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00017958137323148549,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.9199438611394726e-05,
                    "y": -2.4913331799325533e-05,
                    "z": -0.00017680547898635268
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006676980410702527,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 1.3910494089941494e-05,
                    "y": -4.1245184547733516e-06,
                    "z": 0.0006675403565168381
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.788033485412598,
                "transform": {
                    "location": {
                        "x": -174.48577880859375,
                        "y": 4334.59716796875,
                        "z": 373.1211242675781
                    },
                    "rotation": {
                        "roll": 0.00026245368644595146,
                        "pitch": -0.0209072083234787,
                        "yaw": -89.9429931640625
                    }
                },
                "velocity": {
                    "x": 0.00622111139819026,
                    "y": -7.788030624389648,
                    "z": -0.0024036120157688856
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011444630799815059,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.4945305338187609e-05,
                    "y": -1.7403956007910892e-05,
                    "z": 0.0011442331597208977
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.405906682019122e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 6.716698408126831e-06,
                    "y": -2.1722996734752087e-07,
                    "z": 3.33895004587248e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00031097844475880265,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 4.950501079292735e-06,
                    "y": -1.7147442122222856e-05,
                    "z": 0.00031046586809679866
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00022194535995367914,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 1.5534832300545531e-06,
                    "y": -1.536161289550364e-05,
                    "z": 0.00022140765213407576
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6443512439727783,
                "transform": {
                    "location": {
                        "x": -174.49632263183594,
                        "y": 4314.52001953125,
                        "z": 373.1073303222656
                    },
                    "rotation": {
                        "roll": 0.000458447088021785,
                        "pitch": -0.09726189076900482,
                        "yaw": -90.04058074951172
                    }
                },
                "velocity": {
                    "x": -0.0024821318220347166,
                    "y": -3.64434814453125,
                    "z": -0.00404231995344162
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.35314035415649414,
        "expert_target_speed": 10.0,
        "target_point": [
            20.007152813232608,
            0.8713684683740176
        ],
        "target_point_next": [
            31.00234564358709,
            1.1958927447098773
        ]
    },
    "805": {
        "acceleration": [
            0.24094872176647186,
            -0.010681293904781342,
            0.002337074838578701
        ],
        "angular_velocity": [
            0.0451572984457016,
            -0.05919138342142105,
            0.0022435919381678104
        ],
        "forward_vector": [
            -0.9993652701377869,
            0.03545655310153961,
            0.003458611899986863
        ],
        "right_vector": [
            -0.03545631095767021,
            -0.9993712306022644,
            0.00013155933993402869
        ],
        "location": [
            -166.30601501464844,
            4292.37939453125,
            373.0548400878906
        ],
        "rotation": [
            -0.007537840399891138,
            0.19816426932811737,
            177.96804809570312
        ],
        "velocity": [
            -0.018081283196806908,
            0.0005950763588771224,
            0.0013420295435935259
        ],
        "speed": 0.018091072879075642,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.217166900634766,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.685164897935465e-05,
                6.658958682237426e-06,
                0.0009516316349618137
            ],
            "speed_kmh": 0.0034264948426191134,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.958566188812256,
                "transform": {
                    "location": {
                        "x": -163.39633178710938,
                        "y": 4301.8466796875,
                        "z": 373.04998779296875
                    },
                    "rotation": {
                        "roll": -0.3787841796875,
                        "pitch": -0.22446049749851227,
                        "yaw": -1.3531492948532104
                    }
                },
                "velocity": {
                    "x": 7.958039283752441,
                    "y": -0.08783252537250519,
                    "z": -0.025960497558116913
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00020432626479305327,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 3.148645191686228e-05,
                    "y": -2.5694725991343148e-05,
                    "z": 0.00020024387049488723
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002762368239928037,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.21838845312595367,
                        "yaw": 0.15215766429901123
                    }
                },
                "velocity": {
                    "x": 1.2596212400239892e-05,
                    "y": 2.285924529132899e-05,
                    "z": 0.0002750010462477803
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.028573036193848,
                "transform": {
                    "location": {
                        "x": -174.5309295654297,
                        "y": 4266.373046875,
                        "z": 373.0057373046875
                    },
                    "rotation": {
                        "roll": -0.0006713894545100629,
                        "pitch": -0.17852747440338135,
                        "yaw": -89.87698364257812
                    }
                },
                "velocity": {
                    "x": 0.01920749805867672,
                    "y": -8.028510093688965,
                    "z": -0.025289883837103844
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003307463775854558,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 1.5386305676656775e-05,
                    "y": 5.148687023392995e-07,
                    "z": -0.0003303879057057202
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00043147840187884867,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 2.5664232452982105e-05,
                    "y": -3.4599772789078997e-06,
                    "z": -0.000430700572906062
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00018039140559267253,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 5.6614353525219485e-06,
                    "y": -1.253530354006216e-05,
                    "z": 0.00017986627062782645
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0020140991546213627,
                "transform": {
                    "location": {
                        "x": -225.12171936035156,
                        "y": 4295.59228515625,
                        "z": 373.2690124511719
                    },
                    "rotation": {
                        "roll": -0.0005187988863326609,
                        "pitch": -0.042845774441957474,
                        "yaw": 179.8355712890625
                    }
                },
                "velocity": {
                    "x": -0.0014449571026489139,
                    "y": 0.000114883114292752,
                    "z": 0.0013983905082568526
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.257414598716423e-05,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -3.0517745472025126e-05,
                        "pitch": 0.2266666442155838,
                        "yaw": 179.44517517089844
                    }
                },
                "velocity": {
                    "x": 1.534301736683119e-05,
                    "y": -8.59139436215628e-06,
                    "z": 1.4155276403471362e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009518041042611003,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.685164897935465e-05,
                    "y": 6.658958682237426e-06,
                    "z": 0.0009516316349618137
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00015415719826705754,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0007972647435963154,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.6619110107422
                    }
                },
                "velocity": {
                    "x": 7.479078703909181e-06,
                    "y": 2.454523837513989e-07,
                    "z": -0.0001539754739496857
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00023003487149253488,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.22191967070102692,
                        "yaw": 179.76797485351562
                    }
                },
                "velocity": {
                    "x": 1.189228078146698e-05,
                    "y": -3.44561631209217e-05,
                    "z": 0.00022712856298312545
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.0435894839465618e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 7.5955313150188886e-06,
                    "y": 1.5895593605819158e-06,
                    "z": 1.8905211618402973e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0001092182137654163,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 1.3705528544960544e-05,
                    "y": 1.1736091437342111e-05,
                    "z": -0.0001077174092642963
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.448417663574219,
                "transform": {
                    "location": {
                        "x": -174.48452758789062,
                        "y": 4332.6962890625,
                        "z": 373.12060546875
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.021904416382312775,
                        "yaw": -89.97207641601562
                    }
                },
                "velocity": {
                    "x": 0.0011696664150804281,
                    "y": -7.448417663574219,
                    "z": -0.0016650104662403464
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001520060352049768,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.3811178178002592e-05,
                    "y": 6.605815769944456e-07,
                    "z": 0.0015199974877759814
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00012916975538246334,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 9.909272193908691e-07,
                    "y": 1.2166803571744822e-05,
                    "z": 0.000128591651446186
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00023711935500614345,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 4.379004167276435e-06,
                    "y": -4.832480158256658e-07,
                    "z": -0.00023707843502052128
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00011684162018354982,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 1.0871365702769253e-05,
                    "y": -2.672569280548487e-06,
                    "z": -0.00011630406515905634
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.111039400100708,
                "transform": {
                    "location": {
                        "x": -174.49156188964844,
                        "y": 4313.8056640625,
                        "z": 373.1065979003906
                    },
                    "rotation": {
                        "roll": -0.009002688340842724,
                        "pitch": -0.10750716924667358,
                        "yaw": -89.79745483398438
                    }
                },
                "velocity": {
                    "x": 0.11292249709367752,
                    "y": -2.1080167293548584,
                    "z": -0.0011627483181655407
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.3180236816406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0316169448196888,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.35380077362060547,
        "expert_target_speed": 10.0,
        "target_point": [
            20.000740256111087,
            0.8713225023616741
        ],
        "target_point_next": [
            30.99593014585487,
            1.1959463940977728
        ]
    },
    "810": {
        "acceleration": [
            -0.1501336693763733,
            0.0014217302668839693,
            -0.0006128312088549137
        ],
        "angular_velocity": [
            0.007980605587363243,
            0.03494596853852272,
            0.00599911343306303
        ],
        "forward_vector": [
            -0.9993668794631958,
            0.0354112833738327,
            0.0034521748311817646
        ],
        "right_vector": [
            -0.03541111201047897,
            -0.9993728399276733,
            0.0001113194739446044
        ],
        "location": [
            -166.31117248535156,
            4292.37939453125,
            373.0548400878906
        ],
        "rotation": [
            -0.006378173828125,
            0.19779543578624725,
            177.97064208984375
        ],
        "velocity": [
            -0.023309903219342232,
            0.0005837386124767363,
            0.0017099285032600164
        ],
        "speed": 0.02331721121538332,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.21200942993164,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.19720298750326e-06,
                -1.0390079296485055e-05,
                0.0002512336359359324
            ],
            "speed_kmh": 0.0009056950925803435,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.088181495666504,
                "transform": {
                    "location": {
                        "x": -161.3894500732422,
                        "y": 4301.83935546875,
                        "z": 373.04327392578125
                    },
                    "rotation": {
                        "roll": -0.1640014499425888,
                        "pitch": -0.18561038374900818,
                        "yaw": -0.131378173828125
                    }
                },
                "velocity": {
                    "x": 8.088106155395508,
                    "y": 0.022146547213196754,
                    "z": -0.02714860439300537
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.615042654331774e-05,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 4.610866199072916e-06,
                    "y": 4.7630685003241524e-05,
                    "z": -8.339641499333084e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002395127812633291,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.21838845312595367,
                        "yaw": 0.15215766429901123
                    }
                },
                "velocity": {
                    "x": 5.392022103478666e-06,
                    "y": -2.5398216166649945e-05,
                    "z": 0.00023810130369383842
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029181480407715,
                "transform": {
                    "location": {
                        "x": -174.52593994140625,
                        "y": 4264.36474609375,
                        "z": 372.9994812011719
                    },
                    "rotation": {
                        "roll": -0.0007629304309375584,
                        "pitch": -0.17800837755203247,
                        "yaw": -89.84439086914062
                    }
                },
                "velocity": {
                    "x": 0.019869986921548843,
                    "y": -8.029114723205566,
                    "z": -0.026013555005192757
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00015912683738861233,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": -5.3943690545565914e-06,
                    "y": 6.953367847017944e-05,
                    "z": -0.0001430290867574513
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00029537046793848276,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": -7.763504754620953e-07,
                    "y": 6.097065124777146e-05,
                    "z": -0.00028900810866616666
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.794277851440711e-06,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.029456926626153e-06,
                    "y": -2.620224961447093e-07,
                    "z": 3.120769861197914e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2991738319396973,
                "transform": {
                    "location": {
                        "x": -225.314208984375,
                        "y": 4295.59326171875,
                        "z": 373.2701721191406
                    },
                    "rotation": {
                        "roll": 0.0023541210684925318,
                        "pitch": 0.27214205265045166,
                        "yaw": 179.8066864013672
                    }
                },
                "velocity": {
                    "x": -1.2991435527801514,
                    "y": 0.006753072142601013,
                    "z": 0.005736741703003645
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.463228343520314e-05,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -3.0517745472025126e-05,
                        "pitch": 0.2266666442155838,
                        "yaw": 179.44517517089844
                    }
                },
                "velocity": {
                    "x": 4.577673735184362e-06,
                    "y": 7.1204849518835545e-06,
                    "z": 9.425292228115723e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00025158197968266904,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.19720298750326e-06,
                    "y": -1.0390079296485055e-05,
                    "z": 0.0002512336359359324
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007279583951458335,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0007972647435963154,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.6619110107422
                    }
                },
                "velocity": {
                    "x": 1.6732141148168012e-06,
                    "y": 3.4474825838515244e-07,
                    "z": -0.0007279564160853624
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00036401909892447293,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.22191967070102692,
                        "yaw": 179.76797485351562
                    }
                },
                "velocity": {
                    "x": 2.9429420465021394e-05,
                    "y": 7.981066300999373e-05,
                    "z": 0.00035394076257944107
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00013320079597178847,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": -7.66627465509373e-07,
                    "y": 5.3512230806518346e-05,
                    "z": -0.00012197666364954785
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.230831623077393,
                "transform": {
                    "location": {
                        "x": -174.4842987060547,
                        "y": 4330.86279296875,
                        "z": 373.1199645996094
                    },
                    "rotation": {
                        "roll": 0.00013387654325924814,
                        "pitch": -0.026548944413661957,
                        "yaw": -89.99951171875
                    }
                },
                "velocity": {
                    "x": -0.0010435660369694233,
                    "y": -7.230831146240234,
                    "z": -0.0020133494399487972
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011485596187412739,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 2.0301602489780635e-05,
                    "y": 1.2771291039825883e-05,
                    "z": 0.0011483092093840241
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.3020117522683e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 8.164420250977855e-06,
                    "y": -2.937805220426526e-06,
                    "z": 6.2419923779089e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.423324975912692e-06,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 6.290674264164409e-06,
                    "y": 1.180087110697059e-06,
                    "z": -5.421425157692283e-07
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00012349749158602208,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 7.394030490104342e-06,
                    "y": -8.118529876810499e-06,
                    "z": 0.00012300832895562053
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010127030545845628,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.10662841796875
                    },
                    "rotation": {
                        "roll": 0.0010767974890768528,
                        "pitch": -0.11508185416460037,
                        "yaw": -89.60335540771484
                    }
                },
                "velocity": {
                    "x": 3.432269295444712e-06,
                    "y": 5.764594970969483e-05,
                    "z": -0.0010110551957041025
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13303454220294952,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.0637512207031
                    },
                    "rotation": {
                        "roll": -9.155389125226066e-05,
                        "pitch": 0.030175773426890373,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 2.9153847208363004e-05,
                    "y": 7.02794932294637e-05,
                    "z": 0.13303452730178833
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3525676727294922,
        "expert_target_speed": 10.0,
        "target_point": [
            19.995625469994643,
            0.8702338456556388
        ],
        "target_point_next": [
            30.99083005376683,
            1.1943596601242479
        ]
    },
    "815": {
        "acceleration": [
            0.1790779083967209,
            -0.0018222141079604626,
            0.007040787022560835
        ],
        "angular_velocity": [
            0.031832534819841385,
            -0.03873469680547714,
            0.005623360630124807
        ],
        "forward_vector": [
            -0.9993677735328674,
            0.03538459539413452,
            0.0034578966442495584
        ],
        "right_vector": [
            -0.03538433462381363,
            -0.999373733997345,
            0.0001368856173940003
        ],
        "location": [
            -166.31600952148438,
            4292.37939453125,
            373.05487060546875
        ],
        "rotation": [
            -0.007843014784157276,
            0.1981232911348343,
            177.97218322753906
        ],
        "velocity": [
            -0.015554027631878853,
            0.0006307827425189316,
            0.0015109156956896186
        ],
        "speed": 0.015566812854322832,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.20717239379883,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1673159860947635e-05,
                -2.330660890947911e-06,
                0.0011861859820783138
            ],
            "speed_kmh": 0.004270484547240122,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.59986686706543,
                "transform": {
                    "location": {
                        "x": -159.32359313964844,
                        "y": 4301.845703125,
                        "z": 373.0361633300781
                    },
                    "rotation": {
                        "roll": -0.0438232421875,
                        "pitch": -0.11355871707201004,
                        "yaw": 0.1592692732810974
                    }
                },
                "velocity": {
                    "x": 8.599787712097168,
                    "y": 0.02176963910460472,
                    "z": -0.029863018542528152
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00011485200229799375,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 2.3289843738893978e-05,
                    "y": 6.702904647681862e-05,
                    "z": 9.030875662574545e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003173347213305533,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.00189208984375,
                        "pitch": -0.21836113929748535,
                        "yaw": 0.15213224291801453
                    }
                },
                "velocity": {
                    "x": 1.643590621824842e-05,
                    "y": 3.27491361531429e-05,
                    "z": 0.0003152121207676828
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030058860778809,
                "transform": {
                    "location": {
                        "x": -174.5203857421875,
                        "y": 4262.357421875,
                        "z": 372.9930725097656
                    },
                    "rotation": {
                        "roll": 0.0012829150073230267,
                        "pitch": -0.18619094789028168,
                        "yaw": -89.87321472167969
                    }
                },
                "velocity": {
                    "x": 0.01804594323039055,
                    "y": -8.029998779296875,
                    "z": -0.025348853319883347
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003189277776982635,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": -2.5255606033169897e-06,
                    "y": 1.1910567991435528e-05,
                    "z": -0.00031869529630057514
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00041521203820593655,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 3.165714360875427e-06,
                    "y": 5.009621418139432e-06,
                    "z": 0.0004151697503402829
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.596475527156144e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 7.050633485050639e-06,
                    "y": 7.943880859784258e-07,
                    "z": 8.567144686821848e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1036806106567383,
                "transform": {
                    "location": {
                        "x": -225.74546813964844,
                        "y": 4295.595703125,
                        "z": 373.27197265625
                    },
                    "rotation": {
                        "roll": 0.0014743937645107508,
                        "pitch": 0.33742499351501465,
                        "yaw": 179.75656127929688
                    }
                },
                "velocity": {
                    "x": -2.1036336421966553,
                    "y": 0.012154827825725079,
                    "z": 0.007068099919706583
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.3433734643040225e-05,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -3.0517745472025126e-05,
                        "pitch": 0.2266666442155838,
                        "yaw": 179.44517517089844
                    }
                },
                "velocity": {
                    "x": 1.1906027793884277e-05,
                    "y": -9.59453154791845e-06,
                    "z": -2.973223672597669e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001186245703138411,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1673159860947635e-05,
                    "y": -2.330660890947911e-06,
                    "z": 0.0011861859820783138
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00044603669084608555,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0007972647435963154,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.6619110107422
                    }
                },
                "velocity": {
                    "x": 4.316158538131276e-06,
                    "y": 9.005440915643703e-06,
                    "z": -0.0004459248739294708
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007041612407192588,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": -1.4719776117999572e-05,
                    "y": -1.9218168745283037e-05,
                    "z": -0.0007037449977360666
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004109900910407305,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 4.347898084233748e-06,
                    "y": 7.127858407329768e-05,
                    "z": -0.0004047385882586241
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.0258764278842136e-05,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 8.506066478730645e-06,
                    "y": 4.171376076556044e-06,
                    "z": 5.95093697484117e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.944853782653809,
                "transform": {
                    "location": {
                        "x": -174.484130859375,
                        "y": 4329.09228515625,
                        "z": 373.11932373046875
                    },
                    "rotation": {
                        "roll": -0.0005798357888124883,
                        "pitch": -0.034950077533721924,
                        "yaw": -90.0152587890625
                    }
                },
                "velocity": {
                    "x": -0.0021556434221565723,
                    "y": -6.944852828979492,
                    "z": -0.002481059869751334
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001145437709055841,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 6.438828677346464e-06,
                    "y": -4.255200474290177e-05,
                    "z": 0.0011446289718151093
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.026425070449477e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 7.92808805272216e-06,
                    "y": -3.7735176192654762e-06,
                    "z": 5.316092028806452e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006719983066432178,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 1.3189650417189114e-05,
                    "y": 9.58772398007568e-06,
                    "z": 0.0006718004588037729
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002013372868532315,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 7.234737040562322e-06,
                    "y": -3.002912535521318e-06,
                    "z": 0.00020118485554121435
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1063537597656
                    },
                    "rotation": {
                        "roll": -0.00015258883649948984,
                        "pitch": -0.08056890964508057,
                        "yaw": -89.60331726074219
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13218525052070618,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.1148681640625
                    },
                    "rotation": {
                        "roll": -0.0006408688495866954,
                        "pitch": 0.030367018654942513,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 6.76300032864674e-07,
                    "y": 6.517145811812952e-05,
                    "z": 0.13218523561954498
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3392864763736725,
        "expert_target_speed": 10.0,
        "target_point": [
            19.99081469355287,
            0.8695287488827623
        ],
        "target_point_next": [
            30.986027928498036,
            1.1933609595978234
        ]
    },
    "820": {
        "acceleration": [
            -0.18455180525779724,
            0.002511502243578434,
            -0.005624578334391117
        ],
        "angular_velocity": [
            0.003057778114452958,
            0.028137123212218285,
            -0.00043618158088065684
        ],
        "forward_vector": [
            -0.9993670582771301,
            0.035404134541749954,
            0.0034757780376821756
        ],
        "right_vector": [
            -0.03540391847491264,
            -0.9993730783462524,
            0.00012356990191619843
        ],
        "location": [
            -166.32131958007812,
            4292.37939453125,
            373.0549011230469
        ],
        "rotation": [
            -0.007080076728016138,
            0.19914782047271729,
            177.97105407714844
        ],
        "velocity": [
            -0.02671591192483902,
            0.0006907298811711371,
            0.0011423969408497214
        ],
        "speed": 0.02672483971410303,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.20186233520508,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.673684871813748e-06,
                -3.967501015722519e-06,
                0.0005836747004650533
            ],
            "speed_kmh": 0.002101566031461627,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.433812141418457,
                "transform": {
                    "location": {
                        "x": -157.0731201171875,
                        "y": 4301.85009765625,
                        "z": 373.0283203125
                    },
                    "rotation": {
                        "roll": -0.009948729537427425,
                        "pitch": -0.07132083177566528,
                        "yaw": 0.10551043599843979
                    }
                },
                "velocity": {
                    "x": 9.433738708496094,
                    "y": 0.01610030233860016,
                    "z": -0.033509090542793274
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003469531948212534,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0025634765625,
                        "pitch": -0.21836113929748535,
                        "yaw": 0.15212243795394897
                    }
                },
                "velocity": {
                    "x": -1.130472810473293e-05,
                    "y": -1.0595321327855345e-05,
                    "z": 0.0003466070629656315
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0281400680542,
                "transform": {
                    "location": {
                        "x": -174.51632690429688,
                        "y": 4260.349609375,
                        "z": 372.9864501953125
                    },
                    "rotation": {
                        "roll": -0.0005187971983104944,
                        "pitch": -0.19626547396183014,
                        "yaw": -89.85069274902344
                    }
                },
                "velocity": {
                    "x": 0.020010344684123993,
                    "y": -8.02807331085205,
                    "z": -0.025845399126410484
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00033929990604519844,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 1.0414644748379942e-05,
                    "y": -3.1476472940994427e-05,
                    "z": 0.0003376761742401868
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.80404996778816e-05,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 6.318874511634931e-06,
                    "y": 3.193710426785401e-06,
                    "z": 4.751591040985659e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7604248569114134e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.479881449195091e-06,
                    "y": 5.750903824264242e-07,
                    "z": 1.6358177163056098e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003181101637892425,
                "transform": {
                    "location": {
                        "x": -226.05999755859375,
                        "y": 4295.59716796875,
                        "z": 373.2726745605469
                    },
                    "rotation": {
                        "roll": -0.001953125,
                        "pitch": -0.03421241417527199,
                        "yaw": 179.86557006835938
                    }
                },
                "velocity": {
                    "x": -0.00029815753805451095,
                    "y": -0.00011086411541327834,
                    "z": -2.3002346551947994e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -3.0517745472025126e-05,
                        "pitch": 0.2266666442155838,
                        "yaw": 179.44517517089844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005837683565914631,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.673684871813748e-06,
                    "y": -3.967501015722519e-06,
                    "z": 0.0005836747004650533
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0007972647435963154,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.6619110107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00011624731996562332,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 9.460709406994283e-06,
                    "y": -7.254225238284562e-06,
                    "z": 0.00011563438602024689
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00024598458549007773,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.4359540728037246e-05,
                    "y": 9.56331132329069e-06,
                    "z": -0.0002453788183629513
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00012666323164012283,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 5.775913450634107e-06,
                    "y": 3.4824184695025906e-05,
                    "z": -0.00012164493091404438
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.211080551147461,
                "transform": {
                    "location": {
                        "x": -174.4840545654297,
                        "y": 4327.47216796875,
                        "z": 373.1187438964844
                    },
                    "rotation": {
                        "roll": 0.00024329559528268874,
                        "pitch": -0.05859619006514549,
                        "yaw": -90.02570343017578
                    }
                },
                "velocity": {
                    "x": -0.002846985124051571,
                    "y": -5.2110795974731445,
                    "z": -0.001685991301201284
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00042072843643836677,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.6545802282053046e-05,
                    "y": -6.829910034866771e-06,
                    "z": 0.0004203474672976881
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00010786904022097588,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 8.284448995254934e-06,
                    "y": -3.84875465897494e-06,
                    "z": 0.00010748155909823254
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.5096858229953796e-05,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 6.668157766398508e-06,
                    "y": -1.199492544401437e-05,
                    "z": 4.295793405617587e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.817368168616667e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 1.4219805279935827e-06,
                    "y": -1.828691347327549e-05,
                    "z": 7.599138916702941e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010803815675899386,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062927246094
                    },
                    "rotation": {
                        "roll": -0.00015258882194757462,
                        "pitch": -0.07416219264268875,
                        "yaw": -89.60334777832031
                    }
                },
                "velocity": {
                    "x": 1.720169348118361e-05,
                    "y": 7.623619922014768e-07,
                    "z": -0.0010802443139255047
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7833404541015625,
                "transform": {
                    "location": {
                        "x": -174.5634307861328,
                        "y": 4349.15283203125,
                        "z": 373.1289367675781
                    },
                    "rotation": {
                        "roll": 0.007294217124581337,
                        "pitch": -0.11853109300136566,
                        "yaw": -89.91952514648438
                    }
                },
                "velocity": {
                    "x": 0.03252821043133736,
                    "y": -1.7830277681350708,
                    "z": 0.007558126468211412
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3447563052177429,
        "expert_target_speed": 10.0,
        "target_point": [
            19.985490960532136,
            0.8697315785846558
        ],
        "target_point_next": [
            30.980697862351562,
            1.1937787492133607
        ]
    },
    "825": {
        "acceleration": [
            0.16154445707798004,
            0.0006223702803254128,
            0.00697555486112833
        ],
        "angular_velocity": [
            -0.023339325562119484,
            -0.028407976031303406,
            0.015128757804632187
        ],
        "forward_vector": [
            -0.9993679523468018,
            0.035379115492105484,
            0.003472201758995652
        ],
        "right_vector": [
            -0.03537888079881668,
            -0.9993739724159241,
            0.0001283635792788118
        ],
        "location": [
            -166.32725524902344,
            4292.37939453125,
            373.0549011230469
        ],
        "rotation": [
            -0.007354735862463713,
            0.19894291460514069,
            177.9724884033203
        ],
        "velocity": [
            -0.019672665745019913,
            0.0008900653338059783,
            0.0016082762740552425
        ],
        "speed": 0.019692790401914174,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.195926666259766,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.296229675062932e-05,
                3.4787399272318e-06,
                0.0015134599525481462
            ],
            "speed_kmh": 0.005448670049978525,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.986872673034668,
                "transform": {
                    "location": {
                        "x": -154.4901580810547,
                        "y": 4301.8525390625,
                        "z": 373.0191345214844
                    },
                    "rotation": {
                        "roll": 0.013493086211383343,
                        "pitch": 0.06858192384243011,
                        "yaw": 0.013838956132531166
                    }
                },
                "velocity": {
                    "x": 10.986804008483887,
                    "y": -0.007619529031217098,
                    "z": -0.03800712898373604
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00010353579273214564,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 2.5609433578210883e-05,
                    "y": 6.107333319960162e-05,
                    "z": 7.958558126119897e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.461204611696303e-05,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0022583010140806437,
                        "pitch": -0.21826551854610443,
                        "yaw": 0.1521100252866745
                    }
                },
                "velocity": {
                    "x": 1.007866103464039e-05,
                    "y": 1.330222403339576e-05,
                    "z": 6.241945084184408e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02988052368164,
                "transform": {
                    "location": {
                        "x": -174.51217651367188,
                        "y": 4258.341796875,
                        "z": 372.9796447753906
                    },
                    "rotation": {
                        "roll": -0.0005493130884133279,
                        "pitch": -0.19515898823738098,
                        "yaw": -89.87554168701172
                    }
                },
                "velocity": {
                    "x": 0.019311262294650078,
                    "y": -8.029816627502441,
                    "z": -0.02556251548230648
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003031553642358631,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 1.093860646506073e-05,
                    "y": -2.1199644834268838e-05,
                    "z": 0.0003022153105121106
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005409428849816322,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 9.6713001767057e-06,
                    "y": 3.3955036542465677e-06,
                    "z": -0.0005408457363955677
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000323270884109661,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 5.624852747132536e-06,
                    "y": 1.1623309546848759e-05,
                    "z": 0.00032301287865266204
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013215168146416545,
                "transform": {
                    "location": {
                        "x": -226.0614013671875,
                        "y": 4295.59716796875,
                        "z": 373.2729187011719
                    },
                    "rotation": {
                        "roll": -0.0007019042386673391,
                        "pitch": 0.1422181874513626,
                        "yaw": 179.86557006835938
                    }
                },
                "velocity": {
                    "x": 0.0010399377206340432,
                    "y": 4.532646926236339e-05,
                    "z": 0.0008141755242832005
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.152247882098891e-05,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -6.103507257648744e-05,
                        "pitch": 0.22675544023513794,
                        "yaw": 179.44528198242188
                    }
                },
                "velocity": {
                    "x": 8.835270818963181e-06,
                    "y": 7.281812031578738e-06,
                    "z": -2.9369710318860598e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0015135194407775998,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.296229675062932e-05,
                    "y": 3.4787399272318e-06,
                    "z": 0.0015134599525481462
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001349239028058946,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0007972647435963154,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.6619110107422
                    }
                },
                "velocity": {
                    "x": 7.469318461517105e-06,
                    "y": -3.431249524510349e-06,
                    "z": -0.00013467328972183168
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00047484508831985295,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 1.5685296602896415e-05,
                    "y": -7.251265742524993e-06,
                    "z": 0.000474530563224107
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00018920232832897455,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": -7.137432476156391e-06,
                    "y": 1.1496877959871199e-05,
                    "z": 0.00018871777865570039
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00011097678361693397,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 7.548927897005342e-06,
                    "y": 4.0273575905303005e-06,
                    "z": -0.00011064646241720766
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0051954397931694984,
                "transform": {
                    "location": {
                        "x": -174.48397827148438,
                        "y": 4326.845703125,
                        "z": 373.1188049316406
                    },
                    "rotation": {
                        "roll": -0.0001831083354773,
                        "pitch": -0.14202694594860077,
                        "yaw": -90.03936767578125
                    }
                },
                "velocity": {
                    "x": -7.407653902191669e-05,
                    "y": -0.005191459320485592,
                    "z": -0.00018936357810162008
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011060229735448956,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 7.018819360382622e-06,
                    "y": -3.985498187830672e-05,
                    "z": 0.0011052823392674327
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.378644997719675e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 3.1132994990912266e-06,
                    "y": -1.148006776929833e-05,
                    "z": 8.29378332127817e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00013804093759972602,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 5.779973889730172e-06,
                    "y": 1.593884007888846e-06,
                    "z": 0.00013791066885460168
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003317885857541114,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 2.665072543095448e-06,
                    "y": 1.595182766322978e-05,
                    "z": 0.00033139417064376175
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00026708151563070714,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062927246094
                    },
                    "rotation": {
                        "roll": -0.00015258882194757462,
                        "pitch": -0.07416219264268875,
                        "yaw": -89.60334777832031
                    }
                },
                "velocity": {
                    "x": 1.5210020137601532e-05,
                    "y": -2.1869875581614906e-06,
                    "z": 0.00026663910830393434
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.1303656101226807,
                "transform": {
                    "location": {
                        "x": -174.55789184570312,
                        "y": 4348.51123046875,
                        "z": 373.1290283203125
                    },
                    "rotation": {
                        "roll": 0.0004783879267051816,
                        "pitch": -0.12982140481472015,
                        "yaw": -89.78221893310547
                    }
                },
                "velocity": {
                    "x": 0.02827017940580845,
                    "y": -3.130237579345703,
                    "z": -0.0017982005374506116
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3447585701942444,
        "expert_target_speed": 10.0,
        "target_point": [
            19.97958056685862,
            0.8690260284172191
        ],
        "target_point_next": [
            30.97479550022008,
            1.1928005669392652
        ]
    },
    "830": {
        "acceleration": [
            -0.2249240130186081,
            0.005326655227690935,
            6.923684850335121e-05
        ],
        "angular_velocity": [
            -0.014143089763820171,
            0.056938428431749344,
            0.027175884693861008
        ],
        "forward_vector": [
            -0.9993681311607361,
            0.03537411242723465,
            0.0034757780376821756
        ],
        "right_vector": [
            -0.035373903810977936,
            -0.9993741512298584,
            0.00012090674135833979
        ],
        "location": [
            -166.33273315429688,
            4292.37939453125,
            373.0549621582031
        ],
        "rotation": [
            -0.0069274879060685635,
            0.19914782047271729,
            177.9727783203125
        ],
        "velocity": [
            -0.02909713424742222,
            0.0008703105850145221,
            0.0011365222744643688
        ],
        "speed": 0.02911014706123793,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.19044876098633,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.3123229109623935e-05,
                -9.019697245093994e-06,
                0.0008179840515367687
            ],
            "speed_kmh": 0.002945300530528789,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.068757057189941,
                "transform": {
                    "location": {
                        "x": -151.6003875732422,
                        "y": 4301.84716796875,
                        "z": 373.00872802734375
                    },
                    "rotation": {
                        "roll": 0.01473140623420477,
                        "pitch": 0.034376341849565506,
                        "yaw": -0.1390685737133026
                    }
                },
                "velocity": {
                    "x": 12.068646430969238,
                    "y": -0.030142243951559067,
                    "z": -0.04186882823705673
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.9319573261309415e-05,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 7.157772415666841e-06,
                    "y": -3.292238397989422e-05,
                    "z": 2.02709597942885e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005487684975378215,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0019836423452943563,
                        "pitch": -0.21836113929748535,
                        "yaw": 0.15209706127643585
                    }
                },
                "velocity": {
                    "x": 4.02577234126511e-06,
                    "y": -3.8019636122044176e-05,
                    "z": 0.0005474350764416158
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029346466064453,
                "transform": {
                    "location": {
                        "x": -174.50836181640625,
                        "y": 4256.333984375,
                        "z": 372.9728698730469
                    },
                    "rotation": {
                        "roll": 0.001175039797089994,
                        "pitch": -0.20052751898765564,
                        "yaw": -89.85140991210938
                    }
                },
                "velocity": {
                    "x": 0.018785245716571808,
                    "y": -8.029273986816406,
                    "z": -0.02839025855064392
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004768704529851675,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 8.721425729163457e-06,
                    "y": 6.479247531387955e-06,
                    "z": -0.000476746674394235
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00012949765368830413,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": -6.618611223530024e-06,
                    "y": 1.262994010176044e-05,
                    "z": -0.00012871022045146674
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00032692591776140034,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 3.7799029541929485e-06,
                    "y": -5.185021905163012e-07,
                    "z": 0.00032690365333110094
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00030129801598377526,
                "transform": {
                    "location": {
                        "x": -226.06187438964844,
                        "y": 4295.59765625,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 0.0006930779200047255,
                        "pitch": 0.19991962611675262,
                        "yaw": 179.86557006835938
                    }
                },
                "velocity": {
                    "x": 0.0002919455582741648,
                    "y": 3.648536585387774e-05,
                    "z": -6.493918772321194e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00016708398470655084,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -6.103507257648744e-05,
                        "pitch": 0.22675544023513794,
                        "yaw": 179.44528198242188
                    }
                },
                "velocity": {
                    "x": -6.28642737865448e-07,
                    "y": -9.141444024862722e-06,
                    "z": 0.00016683254216331989
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008181390585377812,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.3123229109623935e-05,
                    "y": -9.019697245093994e-06,
                    "z": 0.0008179840515367687
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00036015649675391614,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0007972647435963154,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.6619110107422
                    }
                },
                "velocity": {
                    "x": 4.4770908971258905e-06,
                    "y": 1.1661232747428585e-05,
                    "z": -0.00035993981873616576
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006736228824593127,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": -1.2334436405581073e-07,
                    "y": -9.642992154113017e-06,
                    "z": 0.0006735538481734693
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00024440110428258777,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.7793141523725353e-05,
                    "y": -4.8995454562827945e-05,
                    "z": -0.00023877760395407677
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002976974647026509,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 5.321204753272468e-06,
                    "y": -3.608142287703231e-05,
                    "z": -0.00029545489815063775
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6435875296592712,
                "transform": {
                    "location": {
                        "x": -174.48374938964844,
                        "y": 4326.7783203125,
                        "z": 373.1180419921875
                    },
                    "rotation": {
                        "roll": -0.0008239735616371036,
                        "pitch": -0.04815966263413429,
                        "yaw": -90.06097412109375
                    }
                },
                "velocity": {
                    "x": -0.001320742187090218,
                    "y": -0.6435853242874146,
                    "z": -0.0010311126243323088
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004993555485270917,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 4.968791813553253e-07,
                    "y": -2.7115767807117663e-05,
                    "z": 0.0004986185231246054
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00011713287676684558,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 7.960572474985383e-06,
                    "y": -1.2230317452122108e-06,
                    "z": 0.00011685565550578758
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00018351050675846636,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 4.495344910537824e-06,
                    "y": -1.1060114047722891e-05,
                    "z": 0.00018312173779122531
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001464032829971984,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 1.7001851801978773e-06,
                    "y": -1.1523316970851738e-05,
                    "z": 0.0001459391787648201
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008684300701133907,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062927246094
                    },
                    "rotation": {
                        "roll": -0.00015258882194757462,
                        "pitch": -0.07416219264268875,
                        "yaw": -89.60334777832031
                    }
                },
                "velocity": {
                    "x": -1.1121517673018388e-05,
                    "y": 5.956552513453062e-07,
                    "z": -0.0008683586493134499
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.2726874351501465,
                "transform": {
                    "location": {
                        "x": -174.55038452148438,
                        "y": 4347.580078125,
                        "z": 373.1287536621094
                    },
                    "rotation": {
                        "roll": 0.0007995066116563976,
                        "pitch": -0.08984430134296417,
                        "yaw": -89.67205047607422
                    }
                },
                "velocity": {
                    "x": 0.038838088512420654,
                    "y": -4.272510528564453,
                    "z": 0.002163057215511799
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3438180685043335,
        "expert_target_speed": 10.0,
        "target_point": [
            19.974110647897184,
            0.8687274563312554
        ],
        "target_point_next": [
            30.96932727937243,
            1.1924443226513786
        ]
    },
    "835": {
        "acceleration": [
            0.23895539343357086,
            -0.00018051126971840858,
            0.00784606859087944
        ],
        "angular_velocity": [
            -0.04370254650712013,
            -0.039283283054828644,
            0.017839208245277405
        ],
        "forward_vector": [
            -0.99936842918396,
            0.03536434471607208,
            0.003469698363915086
        ],
        "right_vector": [
            -0.03536410257220268,
            -0.9993744492530823,
            0.00013102672528475523
        ],
        "location": [
            -166.3386688232422,
            4292.37939453125,
            373.0549621582031
        ],
        "rotation": [
            -0.007507323753088713,
            0.1987994760274887,
            177.9733428955078
        ],
        "velocity": [
            -0.01774897240102291,
            0.0008802009397186339,
            0.0015704154502600431
        ],
        "speed": 0.017770784309831533,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.184513092041016,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1187046766281128e-05,
                1.2014279491268098e-05,
                0.0008121375576592982
            ],
            "speed_kmh": 0.0029242924435019494,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.085417747497559,
                "transform": {
                    "location": {
                        "x": -148.45077514648438,
                        "y": 4301.8369140625,
                        "z": 372.9973449707031
                    },
                    "rotation": {
                        "roll": 0.015222390182316303,
                        "pitch": 0.009145623072981834,
                        "yaw": -0.2257385104894638
                    }
                },
                "velocity": {
                    "x": 13.085222244262695,
                    "y": -0.053418055176734924,
                    "z": -0.04757862165570259
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.47579464991577e-05,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 2.587936796771828e-05,
                    "y": -4.2150200897594914e-05,
                    "z": -8.082504791673273e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00010736987314885482,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0014038083609193563,
                        "pitch": -0.21853189170360565,
                        "yaw": 0.15208716690540314
                    }
                },
                "velocity": {
                    "x": -6.911642685736297e-06,
                    "y": 1.5155409528233577e-05,
                    "z": 0.0001060699432855472
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029411315917969,
                "transform": {
                    "location": {
                        "x": -174.5028839111328,
                        "y": 4254.326171875,
                        "z": 372.9657287597656
                    },
                    "rotation": {
                        "roll": -0.0049438499845564365,
                        "pitch": -0.21108698844909668,
                        "yaw": -89.86285400390625
                    }
                },
                "velocity": {
                    "x": 0.02625354938209057,
                    "y": -8.029316902160645,
                    "z": -0.028744930401444435
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00012542276817839593,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": -5.443655027193017e-06,
                    "y": 2.274200232932344e-05,
                    "z": -0.00012322352267801762
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00015138217713683844,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 9.130089893005788e-06,
                    "y": -1.4935168110241648e-05,
                    "z": 0.0001503667008364573
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1358865776855964e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 5.71180135011673e-06,
                    "y": -6.562763701367658e-07,
                    "z": 9.796349331736565e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004367161600384861,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59716796875,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 0.00015896309923846275,
                        "pitch": 0.21780788898468018,
                        "yaw": 179.86557006835938
                    }
                },
                "velocity": {
                    "x": 5.5813416111050174e-05,
                    "y": -2.1767098587588407e-05,
                    "z": 0.00043258763616904616
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00029153047944419086,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -6.103507257648744e-05,
                        "pitch": 0.22675544023513794,
                        "yaw": 179.44528198242188
                    }
                },
                "velocity": {
                    "x": 6.535351076308871e-06,
                    "y": 1.5815423466847278e-05,
                    "z": 0.00029102779808454216
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008123034494929016,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1187046766281128e-05,
                    "y": 1.2014279491268098e-05,
                    "z": 0.0008121375576592982
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000923624262213707,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0007972647435963154,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.6619110107422
                    }
                },
                "velocity": {
                    "x": 2.9228626772237476e-06,
                    "y": 1.115188206313178e-05,
                    "z": -0.0009235523175448179
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001029644743539393,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 2.709820728341583e-05,
                    "y": 4.25851576437708e-05,
                    "z": 0.0010284067830070853
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005061914562247694,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": -1.8978490743393195e-06,
                    "y": 7.83480118116131e-06,
                    "z": -0.0005061272531747818
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.998535097111017e-05,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 1.2228637388034258e-05,
                    "y": -4.440054181031883e-05,
                    "z": 8.874752529663965e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.366612434387207,
                "transform": {
                    "location": {
                        "x": -174.48350524902344,
                        "y": 4326.52099609375,
                        "z": 373.11761474609375
                    },
                    "rotation": {
                        "roll": 0.0003592094290070236,
                        "pitch": -0.017123283818364143,
                        "yaw": -90.0911865234375
                    }
                },
                "velocity": {
                    "x": -0.0031459801830351353,
                    "y": -1.366607904434204,
                    "z": -0.0015998267335817218
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001202296931296587,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 8.81135474628536e-06,
                    "y": -2.3643826352781616e-05,
                    "z": 0.0012020320864394307
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.077173308469355e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 8.799768693279475e-06,
                    "y": -1.9161420823365916e-06,
                    "z": 9.032386151375249e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003073760599363595,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 7.549412202934036e-06,
                    "y": -1.02394369605463e-06,
                    "z": 0.0003072816180065274
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008094863151200116,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062927246094
                    },
                    "rotation": {
                        "roll": -0.00015258882194757462,
                        "pitch": -0.07416219264268875,
                        "yaw": -89.60334777832031
                    }
                },
                "velocity": {
                    "x": 6.342070719256299e-06,
                    "y": -2.3555196548841195e-06,
                    "z": -0.0008094580261968076
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.303395748138428,
                "transform": {
                    "location": {
                        "x": -174.54014587402344,
                        "y": 4346.37158203125,
                        "z": 373.12939453125
                    },
                    "rotation": {
                        "roll": 0.0008409178117290139,
                        "pitch": -0.0827067568898201,
                        "yaw": -89.58514404296875
                    }
                },
                "velocity": {
                    "x": 0.048160355538129807,
                    "y": -5.303175926208496,
                    "z": 0.0034467983059585094
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3455396890640259,
        "expert_target_speed": 10.0,
        "target_point": [
            19.968186975728774,
            0.8683270569994918
        ],
        "target_point_next": [
            30.963406693908624,
            1.191939064747848
        ]
    },
    "840": {
        "acceleration": [
            -0.19027593731880188,
            9.527080692350864e-05,
            0.0019500753842294216
        ],
        "angular_velocity": [
            0.004835912026464939,
            0.047583457082509995,
            0.011762239038944244
        ],
        "forward_vector": [
            -0.999369740486145,
            0.03532573953270912,
            0.0034801887813955545
        ],
        "right_vector": [
            -0.035325564444065094,
            -0.9993758201599121,
            0.00011291733244433999
        ],
        "location": [
            -166.34507751464844,
            4292.37939453125,
            373.05499267578125
        ],
        "rotation": [
            -0.006469725631177425,
            0.19940052926540375,
            177.97555541992188
        ],
        "velocity": [
            -0.03030119650065899,
            0.0008336468017660081,
            0.0019889450632035732
        ],
        "speed": 0.030312661980790193,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.178104400634766,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.3637505617225543e-05,
                -4.6383729568333365e-06,
                0.0012114022392779589
            ],
            "speed_kmh": 0.00436135636503425,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.602387428283691,
                "transform": {
                    "location": {
                        "x": -145.08929443359375,
                        "y": 4301.82177734375,
                        "z": 372.9847717285156
                    },
                    "rotation": {
                        "roll": 0.008217982947826385,
                        "pitch": -0.07775487005710602,
                        "yaw": -0.28118887543678284
                    }
                },
                "velocity": {
                    "x": 13.602142333984375,
                    "y": -0.06512631475925446,
                    "z": -0.04930412024259567
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.264694871380925e-05,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 1.488301859353669e-05,
                    "y": -2.8175081752124242e-05,
                    "z": -2.8344713427941315e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005150763900019228,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.00238037109375,
                        "pitch": -0.21820403635501862,
                        "yaw": 0.15207162499427795
                    }
                },
                "velocity": {
                    "x": 4.912763870379422e-06,
                    "y": -1.1384263416402973e-05,
                    "z": 0.0005149271455593407
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029804229736328,
                "transform": {
                    "location": {
                        "x": -174.49546813964844,
                        "y": 4252.31884765625,
                        "z": 372.9583435058594
                    },
                    "rotation": {
                        "roll": -0.009796137921512127,
                        "pitch": -0.21092988550662994,
                        "yaw": -89.77041625976562
                    }
                },
                "velocity": {
                    "x": 0.03393781930208206,
                    "y": -8.029678344726562,
                    "z": -0.029523363336920738
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006731220055371523,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": -4.030652235087473e-06,
                    "y": 3.858087438857183e-05,
                    "z": -0.0006720033707097173
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004653583455365151,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": -8.020288987609092e-06,
                    "y": 8.141982834786177e-05,
                    "z": -0.00045811012387275696
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002458808885421604,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.315856808214448e-06,
                    "y": -1.5709592844359577e-05,
                    "z": 0.00024529724032618105
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006928173243068159,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59765625,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 0.00032752990955486894,
                        "pitch": 0.22145521640777588,
                        "yaw": 179.86558532714844
                    }
                },
                "velocity": {
                    "x": 2.152401975763496e-05,
                    "y": -3.864103928208351e-05,
                    "z": 0.000691403925884515
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.76456984365359e-05,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": 0.0002138459967682138,
                        "pitch": 0.22668030858039856,
                        "yaw": 179.44529724121094
                    }
                },
                "velocity": {
                    "x": -4.984065640201152e-07,
                    "y": 1.3346866580832284e-05,
                    "z": -6.631405267398804e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012114879209548235,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.3637505617225543e-05,
                    "y": -4.6383729568333365e-06,
                    "z": 0.0012114022392779589
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003193324664607644,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0007972647435963154,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.6619110107422
                    }
                },
                "velocity": {
                    "x": 6.188973657117458e-06,
                    "y": -2.2964713934925385e-06,
                    "z": -0.00031926421797834337
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005002830876037478,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": -4.309080395614728e-06,
                    "y": 8.025727765925694e-06,
                    "z": -0.0005002001416869462
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00046346240560524166,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 2.2813826944911852e-05,
                    "y": -4.39230352640152e-05,
                    "z": 0.00046081197797320783
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00046920598833821714,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 1.9689165128511377e-05,
                    "y": -1.4541776181431487e-05,
                    "z": 0.0004685671010520309
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.184079885482788,
                "transform": {
                    "location": {
                        "x": -174.48350524902344,
                        "y": 4326.0654296875,
                        "z": 373.1173095703125
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.01598947122693062,
                        "yaw": -90.09037780761719
                    }
                },
                "velocity": {
                    "x": -0.0033633490093052387,
                    "y": -2.1840765476226807,
                    "z": -0.001803979859687388
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009108116501010954,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.3050585948803928e-05,
                    "y": -1.0512874723644927e-05,
                    "z": 0.0009106574580073357
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.391481060243677e-06,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 7.409751106024487e-06,
                    "y": -2.463218606862938e-07,
                    "z": 3.930887032765895e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00042145492625422776,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 1.039784365275409e-05,
                    "y": -6.799297352699796e-06,
                    "z": 0.00042127177584916353
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.109137368388474e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 7.849298526707571e-06,
                    "y": -6.96401548339054e-06,
                    "z": 7.031269342405722e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0015944615006446838,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062927246094
                    },
                    "rotation": {
                        "roll": -0.00015258882194757462,
                        "pitch": -0.07416219264268875,
                        "yaw": -89.60334777832031
                    }
                },
                "velocity": {
                    "x": -1.5166430102908635e-06,
                    "y": 1.2510455462688697e-06,
                    "z": -0.0015944602200761437
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.714303016662598,
                "transform": {
                    "location": {
                        "x": -174.52842712402344,
                        "y": 4345.02197265625,
                        "z": 373.1295166015625
                    },
                    "rotation": {
                        "roll": 7.465685484930873e-05,
                        "pitch": -0.042879924178123474,
                        "yaw": -89.55669403076172
                    }
                },
                "velocity": {
                    "x": 0.05275413766503334,
                    "y": -5.714058876037598,
                    "z": 0.002167921047657728
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34523963928222656,
        "expert_target_speed": 10.0,
        "target_point": [
            19.96181622108869,
            0.8673198982524315
        ],
        "target_point_next": [
            30.95704858430233,
            1.1905019855489312
        ]
    },
    "845": {
        "acceleration": [
            0.15577703714370728,
            6.561516784131527e-05,
            -0.011894797906279564
        ],
        "angular_velocity": [
            0.012361853383481503,
            -0.034727953374385834,
            0.011895070783793926
        ],
        "forward_vector": [
            -0.9993695616722107,
            0.03533360734581947,
            0.003463022643700242
        ],
        "right_vector": [
            -0.035333406180143356,
            -0.999375581741333,
            0.00011930890468647704
        ],
        "location": [
            -166.3516387939453,
            4292.37939453125,
            373.0550231933594
        ],
        "rotation": [
            -0.006835937965661287,
            0.19841697812080383,
            177.97509765625
        ],
        "velocity": [
            -0.021219078451395035,
            0.0009007002809084952,
            0.0011102675925940275
        ],
        "speed": 0.021238186158956365,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.17154312133789,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.82331278262427e-06,
                -1.0080647143695387e-06,
                0.00043389195343479514
            ],
            "speed_kmh": 0.0015623381778946403,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.412887573242188,
                "transform": {
                    "location": {
                        "x": -141.71234130859375,
                        "y": 4301.80419921875,
                        "z": 372.97216796875
                    },
                    "rotation": {
                        "roll": 0.005972667597234249,
                        "pitch": -0.2106361985206604,
                        "yaw": -0.3139953315258026
                    }
                },
                "velocity": {
                    "x": 13.412592887878418,
                    "y": -0.07371751219034195,
                    "z": -0.049739863723516464
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003873091482091695,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 3.7790089209011057e-06,
                    "y": 2.0930820028297603e-05,
                    "z": 0.00038672471418976784
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002362228842684999,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0019836423452943563,
                        "pitch": -0.21829283237457275,
                        "yaw": 0.15205919742584229
                    }
                },
                "velocity": {
                    "x": 1.1560804523469415e-05,
                    "y": 2.337292789889034e-05,
                    "z": 0.00023477926151826978
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029276847839355,
                "transform": {
                    "location": {
                        "x": -174.48741149902344,
                        "y": 4250.310546875,
                        "z": 372.9509582519531
                    },
                    "rotation": {
                        "roll": -0.005981439258903265,
                        "pitch": -0.213163360953331,
                        "yaw": -89.76964569091797
                    }
                },
                "velocity": {
                    "x": 0.034322984516620636,
                    "y": -8.029149055480957,
                    "z": -0.029794082045555115
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004544953117147088,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 5.778558261226863e-06,
                    "y": -2.5628620278439485e-05,
                    "z": -0.0004537353524938226
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003531334223225713,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 4.792660547536798e-06,
                    "y": 1.7949234461411834e-05,
                    "z": -0.00035264441976323724
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4128160728432704e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.61797821521759e-06,
                    "y": 3.7424135257424496e-07,
                    "z": 1.2476667507144157e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.7838883397635072e-05,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59765625,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 0.000308129790937528,
                        "pitch": 0.2226095199584961,
                        "yaw": 179.86557006835938
                    }
                },
                "velocity": {
                    "x": 1.493863692303421e-05,
                    "y": 1.425398477294948e-05,
                    "z": 1.867255923571065e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.9569265684112906e-05,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": 0.0002942921710200608,
                        "pitch": 0.22663933038711548,
                        "yaw": 179.44529724121094
                    }
                },
                "velocity": {
                    "x": 1.4318153262138367e-05,
                    "y": 1.558266558276955e-05,
                    "z": 4.48250284534879e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004339828446973115,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.82331278262427e-06,
                    "y": -1.0080647143695387e-06,
                    "z": 0.00043389195343479514
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009709843434393406,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0007972647435963154,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.6619110107422
                    }
                },
                "velocity": {
                    "x": 3.3992155294981785e-06,
                    "y": 2.0663515897467732e-05,
                    "z": -0.0009707584977149963
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.316374053014442e-05,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 4.4747439460479654e-06,
                    "y": -5.947825047769584e-05,
                    "z": 7.156673382269219e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005532327340915799,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 4.977360390512331e-07,
                    "y": -2.213358129665721e-06,
                    "z": 0.0005532280774787068
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007016025483608246,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 1.6907042663660832e-05,
                    "y": -1.204913769470295e-05,
                    "z": 0.0007012952701188624
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008931795018725097,
                "transform": {
                    "location": {
                        "x": -174.48367309570312,
                        "y": 4325.7255859375,
                        "z": 373.11761474609375
                    },
                    "rotation": {
                        "roll": -0.0010375992860645056,
                        "pitch": -0.07808955013751984,
                        "yaw": -90.06847381591797
                    }
                },
                "velocity": {
                    "x": -5.375338514568284e-05,
                    "y": -3.7472516851266846e-05,
                    "z": -0.0008907726733013988
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005395434563979506,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 9.460300134378485e-06,
                    "y": -8.237385031861777e-07,
                    "z": 0.0005394598701968789
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.607724258676171e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 1.4993845979915932e-05,
                    "y": -1.2998494639759883e-05,
                    "z": 4.158528463449329e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004302748420741409,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 1.2278816939215176e-05,
                    "y": 1.1988268852292094e-05,
                    "z": 0.00042993249371647835
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00010622895933920518,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 1.909099410113413e-06,
                    "y": 1.770565540937241e-05,
                    "z": 0.00010472562280483544
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008815000765025616,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062927246094
                    },
                    "rotation": {
                        "roll": -0.00015258882194757462,
                        "pitch": -0.07416219264268875,
                        "yaw": -89.60334777832031
                    }
                },
                "velocity": {
                    "x": 8.913945748645347e-06,
                    "y": 5.847774104950076e-07,
                    "z": -0.0008814547909423709
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.872363090515137,
                "transform": {
                    "location": {
                        "x": -174.51547241210938,
                        "y": 4343.50439453125,
                        "z": 373.13031005859375
                    },
                    "rotation": {
                        "roll": -0.006286620628088713,
                        "pitch": -0.09386728703975677,
                        "yaw": -89.56683349609375
                    }
                },
                "velocity": {
                    "x": 0.029069947078824043,
                    "y": -6.87230110168457,
                    "z": 0.0017598437843844295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34684041142463684,
        "expert_target_speed": 10.0,
        "target_point": [
            19.955251593895756,
            0.8672593963132474
        ],
        "target_point_next": [
            30.950481182810282,
            1.1905358564342112
        ]
    },
    "850": {
        "acceleration": [
            -0.2177850902080536,
            0.00503754336386919,
            0.0011804583482444286
        ],
        "angular_velocity": [
            -0.013196408748626709,
            0.037952031940221786,
            -0.0013510691933333874
        ],
        "forward_vector": [
            -0.9993700981140137,
            0.03531787917017937,
            0.0034751819912344217
        ],
        "right_vector": [
            -0.03531767055392265,
            -0.999376118183136,
            0.00012090676318621263
        ],
        "location": [
            -166.35850524902344,
            4292.37939453125,
            373.0550231933594
        ],
        "rotation": [
            -0.006927488837391138,
            0.199113667011261,
            177.9759979248047
        ],
        "velocity": [
            -0.03158031031489372,
            0.0009976199362426996,
            0.0014287185622379184
        ],
        "speed": 0.03159606375993965,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.164676666259766,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.3749822755926289e-05,
                5.8553168855723925e-06,
                0.0011544586159288883
            ],
            "speed_kmh": 0.004156399232000346,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.365287780761719,
                "transform": {
                    "location": {
                        "x": -138.3699951171875,
                        "y": 4301.78515625,
                        "z": 372.9594421386719
                    },
                    "rotation": {
                        "roll": 0.0025212327018380165,
                        "pitch": -0.2294670194387436,
                        "yaw": -0.3265075087547302
                    }
                },
                "velocity": {
                    "x": 13.364968299865723,
                    "y": -0.0763203352689743,
                    "z": -0.05193760618567467
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.262761310907081e-05,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 2.4508610295015387e-05,
                    "y": -1.901340510812588e-05,
                    "z": 1.0118276804860216e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00020425717229954898,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0016784664476290345,
                        "pitch": -0.21850456297397614,
                        "yaw": 0.1520441472530365
                    }
                },
                "velocity": {
                    "x": 1.8894410459324718e-05,
                    "y": 2.371740629314445e-05,
                    "z": 0.0002019937674049288
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029692649841309,
                "transform": {
                    "location": {
                        "x": -174.47445678710938,
                        "y": 4248.30322265625,
                        "z": 372.94342041015625
                    },
                    "rotation": {
                        "roll": -0.02975463680922985,
                        "pitch": -0.22259585559368134,
                        "yaw": -89.59008026123047
                    }
                },
                "velocity": {
                    "x": 0.06783905625343323,
                    "y": -8.029350280761719,
                    "z": -0.029906004667282104
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005900714895687997,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 1.0325125913368538e-05,
                    "y": 1.0951822332572192e-05,
                    "z": -0.0005898795207031071
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.361119524925016e-05,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 9.306557331001386e-06,
                    "y": -2.644997221068479e-05,
                    "z": 1.8533737602410838e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00013940208009444177,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 7.82526967668673e-06,
                    "y": -2.7803719149233075e-07,
                    "z": 0.00013918199692852795
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007520978688262403,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59765625,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 0.000308129790937528,
                        "pitch": 0.2226095199584961,
                        "yaw": 179.86557006835938
                    }
                },
                "velocity": {
                    "x": 1.8742717657005414e-05,
                    "y": 8.85064946487546e-05,
                    "z": 0.0007466367678716779
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00035648938501253724,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": 0.0002942921710200608,
                        "pitch": 0.22663933038711548,
                        "yaw": 179.44529724121094
                    }
                },
                "velocity": {
                    "x": 4.798583631782094e-06,
                    "y": 1.826310472097248e-05,
                    "z": 0.00035598891554400325
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011545553570613265,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.3749822755926289e-05,
                    "y": 5.8553168855723925e-06,
                    "z": 0.0011544586159288883
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000640934391412884,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0007972647435963154,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.6619110107422
                    }
                },
                "velocity": {
                    "x": 4.589669515553396e-06,
                    "y": -2.3548793706140714e-06,
                    "z": -0.0006409136112779379
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.134298357414082e-05,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 2.7472748115542345e-05,
                    "y": 2.034526551142335e-05,
                    "z": 6.261900125537068e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.848551594070159e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 9.092576874536462e-06,
                    "y": 2.3089143724064343e-05,
                    "z": 1.3987174497742672e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005555155221372843,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 8.036531653488055e-06,
                    "y": 9.258382306143176e-06,
                    "z": 0.0005553802475333214
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7896274924278259,
                "transform": {
                    "location": {
                        "x": -174.48350524902344,
                        "y": 4325.62158203125,
                        "z": 373.1171875
                    },
                    "rotation": {
                        "roll": -0.0005493166972883046,
                        "pitch": -0.0362546406686306,
                        "yaw": -90.09398651123047
                    }
                },
                "velocity": {
                    "x": -0.0012816862436011434,
                    "y": -0.7896249890327454,
                    "z": -0.0015279387589544058
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001384227187372744,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.5276335034286603e-05,
                    "y": 7.949624887260143e-06,
                    "z": 0.0013841200852766633
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.1517384084290825e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 6.937123544048518e-06,
                    "y": 1.0129394922842039e-06,
                    "z": 2.034325552813243e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007452911231666803,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 9.536929610476363e-06,
                    "y": -8.094457371043973e-06,
                    "z": 0.0007451861165463924
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.639664156362414e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 7.813647243892774e-06,
                    "y": -1.518114572718332e-06,
                    "z": 8.602919842815027e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001644113945076242,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062927246094
                    },
                    "rotation": {
                        "roll": -0.00015258882194757462,
                        "pitch": -0.07416219264268875,
                        "yaw": -89.60334777832031
                    }
                },
                "velocity": {
                    "x": -2.708990223254659e-07,
                    "y": -1.8916279032055172e-06,
                    "z": -0.00016440029139630497
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9587507247924805,
                "transform": {
                    "location": {
                        "x": -174.5066375732422,
                        "y": 4341.611328125,
                        "z": 373.13079833984375
                    },
                    "rotation": {
                        "roll": -0.0024414099752902985,
                        "pitch": -0.10784868150949478,
                        "yaw": -89.69951629638672
                    }
                },
                "velocity": {
                    "x": 0.031925275921821594,
                    "y": -7.958686828613281,
                    "z": 0.001996002160012722
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3470088541507721,
        "expert_target_speed": 10.0,
        "target_point": [
            19.948403480342403,
            0.8666933650672413
        ],
        "target_point_next": [
            30.943638308919688,
            1.1897915653886744
        ]
    },
    "855": {
        "acceleration": [
            0.1915261447429657,
            -0.0021220510825514793,
            0.0001811981201171875
        ],
        "angular_velocity": [
            0.007837077602744102,
            -0.030318815261125565,
            -0.01229117438197136
        ],
        "forward_vector": [
            -0.9993699193000793,
            0.03532383590936661,
            0.003466360503807664
        ],
        "right_vector": [
            -0.03532358631491661,
            -0.9993759393692017,
            0.00013315724208950996
        ],
        "location": [
            -166.3653106689453,
            4292.37939453125,
            373.0550231933594
        ],
        "rotation": [
            -0.007629393599927425,
            0.19860823452472687,
            177.9756622314453
        ],
        "velocity": [
            -0.024059990420937538,
            0.0009032775415107608,
            0.0015587806701660156
        ],
        "speed": 0.024076940199547862,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.15787124633789,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.819811228022445e-06,
                8.99350743566174e-06,
                0.0005193966208025813
            ],
            "speed_kmh": 0.0018703776421985343,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.402406692504883,
                "transform": {
                    "location": {
                        "x": -135.02359008789062,
                        "y": 4301.765625,
                        "z": 372.94647216796875
                    },
                    "rotation": {
                        "roll": 0.002040073974058032,
                        "pitch": -0.21731612086296082,
                        "yaw": -0.335052490234375
                    }
                },
                "velocity": {
                    "x": 13.40207290649414,
                    "y": -0.07874166965484619,
                    "z": -0.05247059836983681
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00048014079220592976,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 4.4882294787385035e-06,
                    "y": -1.9411565517657436e-05,
                    "z": -0.00047972725587897
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004341928579378873,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.00213623046875,
                        "pitch": -0.21820403635501862,
                        "yaw": 0.15203116834163666
                    }
                },
                "velocity": {
                    "x": 3.657899696918321e-06,
                    "y": -2.6696747227106243e-05,
                    "z": 0.00043335588998161256
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029101371765137,
                "transform": {
                    "location": {
                        "x": -174.4567108154297,
                        "y": 4246.29541015625,
                        "z": 372.9356994628906
                    },
                    "rotation": {
                        "roll": -0.019775401800870895,
                        "pitch": -0.22808732092380524,
                        "yaw": -89.500732421875
                    }
                },
                "velocity": {
                    "x": 0.07488904148340225,
                    "y": -8.028690338134766,
                    "z": -0.031673915684223175
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00031302752904593945,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 1.4632231795985717e-05,
                    "y": -1.2740620149997994e-05,
                    "z": -0.00031242569093592465
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002088774199364707,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 1.9950903151766397e-05,
                    "y": -6.712618869642029e-06,
                    "z": -0.000207814053283073
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.522004019236192e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 7.694102350797039e-06,
                    "y": -8.78631794876128e-07,
                    "z": -4.455200178199448e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000174524073372595,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59765625,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 0.0007320765289478004,
                        "pitch": 0.2237364947795868,
                        "yaw": 179.86563110351562
                    }
                },
                "velocity": {
                    "x": 3.918161382898688e-05,
                    "y": 3.138054671580903e-05,
                    "z": 0.00016714878438506275
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00046312890481203794,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": 0.0002942921710200608,
                        "pitch": 0.22663933038711548,
                        "yaw": 179.44529724121094
                    }
                },
                "velocity": {
                    "x": 1.271054134122096e-05,
                    "y": -1.6468786270706914e-05,
                    "z": -0.0004626614390872419
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005195493577048182,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.819811228022445e-06,
                    "y": 8.99350743566174e-06,
                    "z": 0.0005193966208025813
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.4200703743845224e-05,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0007972647435963154,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.6619110107422
                    }
                },
                "velocity": {
                    "x": 1.2554302884382196e-05,
                    "y": 1.3585510714619886e-05,
                    "z": -5.094644075143151e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006916845450177789,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 3.965794894611463e-05,
                    "y": -9.15275848001329e-07,
                    "z": 0.0006905461195856333
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.998850535135716e-05,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 1.0275542081217282e-05,
                    "y": -1.837965646700468e-05,
                    "z": -8.749018888920546e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.5002361536026,
                "transform": {
                    "location": {
                        "x": -174.48350524902344,
                        "y": 4325.3291015625,
                        "z": 373.1168518066406
                    },
                    "rotation": {
                        "roll": 0.0002528712502680719,
                        "pitch": -0.022245924919843674,
                        "yaw": -90.09420776367188
                    }
                },
                "velocity": {
                    "x": -0.002019669162109494,
                    "y": -1.500233769416809,
                    "z": -0.0017762279603630304
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010700795101001859,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.961894304258749e-05,
                    "y": -4.786611498275306e-06,
                    "z": 0.0010698889382183552
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00014118147373665124,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 8.316151252074633e-06,
                    "y": -1.7206469919983647e-06,
                    "z": 0.0001409258256899193
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.9260179619304836e-05,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 5.6399030654574744e-06,
                    "y": 3.899214789271355e-06,
                    "z": -3.865681355819106e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.59495490253903e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 8.289963261631783e-06,
                    "y": -9.347207310383965e-07,
                    "z": 6.541976472362876e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012828122125938535,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062927246094
                    },
                    "rotation": {
                        "roll": -0.00015258882194757462,
                        "pitch": -0.07416219264268875,
                        "yaw": -89.60334777832031
                    }
                },
                "velocity": {
                    "x": 4.015588274342008e-06,
                    "y": 1.1593289173106314e-06,
                    "z": -0.0012828054605051875
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.0221028327941895,
                "transform": {
                    "location": {
                        "x": -174.49874877929688,
                        "y": 4339.72119140625,
                        "z": 373.1296691894531
                    },
                    "rotation": {
                        "roll": -0.0008544926531612873,
                        "pitch": 0.052981775254011154,
                        "yaw": -89.75933837890625
                    }
                },
                "velocity": {
                    "x": 0.02615569718182087,
                    "y": -7.0220537185668945,
                    "z": 0.0022198581136763096
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.34882041811943054,
        "expert_target_speed": 10.0,
        "target_point": [
            19.941596934654964,
            0.8665766289857466
        ],
        "target_point_next": [
            30.936829760173037,
            1.1897429874758538
        ]
    },
    "860": {
        "acceleration": [
            -0.22073939442634583,
            0.002152654342353344,
            -0.0017057405784726143
        ],
        "angular_velocity": [
            -0.006710482761263847,
            0.045588213950395584,
            0.011417778208851814
        ],
        "forward_vector": [
            -0.9993709325790405,
            0.03529452905058861,
            0.0034768509212881327
        ],
        "right_vector": [
            -0.0352943018078804,
            -0.9993769526481628,
            0.000126765706227161
        ],
        "location": [
            -166.37217712402344,
            4292.37939453125,
            373.0550842285156
        ],
        "rotation": [
            -0.00726318359375,
            0.1992092877626419,
            177.9773406982422
        ],
        "velocity": [
            -0.03514478728175163,
            0.001111456542275846,
            0.0013451576232910156
        ],
        "speed": 0.03516235783796273,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.151004791259766,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.8555156000657e-06,
                6.3758479882380925e-06,
                0.0003605243400670588
            ],
            "speed_kmh": 0.0012985753532171566,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.404860496520996,
                "transform": {
                    "location": {
                        "x": -131.67210388183594,
                        "y": 4301.74609375,
                        "z": 372.9334411621094
                    },
                    "rotation": {
                        "roll": 0.0008314427686855197,
                        "pitch": -0.22149619460105896,
                        "yaw": -0.3376465439796448
                    }
                },
                "velocity": {
                    "x": 13.40451717376709,
                    "y": -0.07950474321842194,
                    "z": -0.05366532504558563
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005975263193249702,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 3.7546083149209153e-06,
                    "y": 1.7384311377099948e-06,
                    "z": -0.0005975120002403855
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00012651529686991125,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.21832698583602905,
                        "yaw": 0.15201880037784576
                    }
                },
                "velocity": {
                    "x": 1.047976275003748e-05,
                    "y": 2.217631299572531e-05,
                    "z": 0.000124114885693416
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029053688049316,
                "transform": {
                    "location": {
                        "x": -174.4367218017578,
                        "y": 4244.28759765625,
                        "z": 372.927734375
                    },
                    "rotation": {
                        "roll": -0.029815681278705597,
                        "pitch": -0.23269769549369812,
                        "yaw": -89.40656280517578
                    }
                },
                "velocity": {
                    "x": 0.10262347012758255,
                    "y": -8.028329849243164,
                    "z": -0.033143408596515656
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.107161890307907e-05,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 7.296912372112274e-06,
                    "y": -1.569696451042546e-06,
                    "z": -1.9705437807715498e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.369422332383692e-05,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 1.1210925549676176e-05,
                    "y": -1.429545500286622e-05,
                    "z": 9.191606659442186e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007141701644286513,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59765625,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 0.0007320765289478004,
                        "pitch": 0.2237364947795868,
                        "yaw": 179.86563110351562
                    }
                },
                "velocity": {
                    "x": 1.584168421686627e-05,
                    "y": 1.8883554730564356e-05,
                    "z": 0.0007137447246350348
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00033240061020478606,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": 0.0002942921710200608,
                        "pitch": 0.22663933038711548,
                        "yaw": 179.44529724121094
                    }
                },
                "velocity": {
                    "x": 1.5002972759248223e-05,
                    "y": 1.3099934221827425e-05,
                    "z": 0.00033180337049998343
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00036071540671400726,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.8555156000657e-06,
                    "y": 6.3758479882380925e-06,
                    "z": 0.0003605243400670588
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008155982359312475,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0007972647435963154,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.6619110107422
                    }
                },
                "velocity": {
                    "x": 3.0753760711377254e-06,
                    "y": -5.254453299130546e-06,
                    "z": -0.0008155755349434912
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006589209078811109,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 5.941353720118059e-06,
                    "y": -1.767527101037558e-05,
                    "z": 0.0006586569943465292
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005637517897412181,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": -4.766061920236098e-06,
                    "y": -1.541837036711513e-06,
                    "z": 0.0005637295544147491
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00019543849339243025,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 1.2210010936541948e-05,
                    "y": 2.1540108718909323e-06,
                    "z": -0.00019504482042975724
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1420795917510986,
                "transform": {
                    "location": {
                        "x": -174.48342895507812,
                        "y": 4324.84716796875,
                        "z": 373.1165466308594
                    },
                    "rotation": {
                        "roll": 0.0002698316820897162,
                        "pitch": -0.024868717417120934,
                        "yaw": -90.10540771484375
                    }
                },
                "velocity": {
                    "x": -0.003290776163339615,
                    "y": -2.142076015472412,
                    "z": -0.002138652838766575
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016067794058471918,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 8.454546332359314e-06,
                    "y": 3.931871560780564e-06,
                    "z": 0.001606752397492528
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.280077261384577e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 1.0624005881254561e-05,
                    "y": -7.351124622800853e-06,
                    "z": 7.164526323322207e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.458776649902575e-05,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 8.737332791497465e-06,
                    "y": -7.410180842271075e-06,
                    "z": 5.3372019465314224e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00016248492465820163,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 6.613582172576571e-06,
                    "y": -3.8935640986892395e-06,
                    "z": 0.00016230357869062573
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007728240452706814,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062927246094
                    },
                    "rotation": {
                        "roll": -0.00015258882194757462,
                        "pitch": -0.07416219264268875,
                        "yaw": -89.60334777832031
                    }
                },
                "velocity": {
                    "x": 5.90411950440739e-08,
                    "y": -9.020976676765713e-07,
                    "z": -0.0007728235214017332
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.800330638885498,
                "transform": {
                    "location": {
                        "x": -174.493896484375,
                        "y": 4338.185546875,
                        "z": 373.1285095214844
                    },
                    "rotation": {
                        "roll": -0.0021667503751814365,
                        "pitch": 0.198833629488945,
                        "yaw": -89.84283447265625
                    }
                },
                "velocity": {
                    "x": 0.009429659694433212,
                    "y": -4.800319671630859,
                    "z": -0.0035399054177105427
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3502202033996582,
        "expert_target_speed": 10.0,
        "target_point": [
            19.93476036832203,
            0.8657447301420435
        ],
        "target_point_next": [
            30.93000274309419,
            1.1885860264853638
        ]
    },
    "865": {
        "acceleration": [
            0.20292821526527405,
            -0.0016296759713441133,
            -0.004922293592244387
        ],
        "angular_velocity": [
            0.012540588155388832,
            -0.03955896571278572,
            -0.009354309178888798
        ],
        "forward_vector": [
            -0.999370813369751,
            0.03529739007353783,
            0.003472917014732957
        ],
        "right_vector": [
            -0.0352972112596035,
            -0.9993768334388733,
            0.00011238472507102415
        ],
        "location": [
            -166.37913513183594,
            4292.37939453125,
            373.05511474609375
        ],
        "rotation": [
            -0.006439209450036287,
            0.19898389279842377,
            177.9771728515625
        ],
        "velocity": [
            -0.02475563995540142,
            0.0007434589206241071,
            0.0013079643249511719
        ],
        "speed": 0.024766801181584246,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.144046783447266,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.3628825399791822e-05,
                -7.82543884270126e-06,
                0.0010473933070898056
            ],
            "speed_kmh": 0.0037710403337227073,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.398323059082031,
                "transform": {
                    "location": {
                        "x": -128.32211303710938,
                        "y": 4301.7265625,
                        "z": 372.9203186035156
                    },
                    "rotation": {
                        "roll": 0.0010545797413215041,
                        "pitch": -0.22577188909053802,
                        "yaw": -0.34368896484375
                    }
                },
                "velocity": {
                    "x": 13.39798355102539,
                    "y": -0.07961834222078323,
                    "z": -0.052483923733234406
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007476856699213386,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 3.1524523365078494e-06,
                    "y": 7.4067047535208985e-06,
                    "z": -0.000747642305213958
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005863679689355195,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020751948468387127,
                        "pitch": -0.21836113929748535,
                        "yaw": 0.15200570225715637
                    }
                },
                "velocity": {
                    "x": 2.385042535024695e-06,
                    "y": -3.598562761908397e-05,
                    "z": 0.0005852578324265778
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030041694641113,
                "transform": {
                    "location": {
                        "x": -174.40835571289062,
                        "y": 4242.27978515625,
                        "z": 372.9195861816406
                    },
                    "rotation": {
                        "roll": -0.036041244864463806,
                        "pitch": -0.23282064497470856,
                        "yaw": -89.19182586669922
                    }
                },
                "velocity": {
                    "x": 0.12429385632276535,
                    "y": -8.029012680053711,
                    "z": -0.032793693244457245
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00024794775526970625,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": -1.3789534705210826e-06,
                    "y": 1.3645818398799747e-05,
                    "z": -0.0002475681249052286
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.755507011897862e-05,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 9.4393262770609e-06,
                    "y": -5.99705481363344e-06,
                    "z": -2.5183651814586483e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.558784272987396e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 7.1610506893193815e-06,
                    "y": -2.314401967851154e-07,
                    "z": 7.524750981247053e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003823194419965148,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59765625,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 0.0007320765289478004,
                        "pitch": 0.2237364947795868,
                        "yaw": 179.86563110351562
                    }
                },
                "velocity": {
                    "x": 6.170906090119388e-06,
                    "y": 3.868085059366422e-06,
                    "z": 0.00038225005846470594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005561892176046968,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": 0.0002942921710200608,
                        "pitch": 0.22663933038711548,
                        "yaw": 179.44529724121094
                    }
                },
                "velocity": {
                    "x": 3.054767876164988e-05,
                    "y": -8.838907888275571e-06,
                    "z": 0.0005552793736569583
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010475111193954945,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.3628825399791822e-05,
                    "y": -7.82543884270126e-06,
                    "z": 0.0010473933070898056
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000251911609666422,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.28997802734375
                    },
                    "rotation": {
                        "roll": 0.0011434798361733556,
                        "pitch": 0.22140057384967804,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": 5.717202839150559e-06,
                    "y": -5.665885964845074e-06,
                    "z": -0.00025178297073580325
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0456158634042367e-05,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 5.192123353481293e-06,
                    "y": -4.020399956061738e-06,
                    "z": 8.13692167866975e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001870344131020829,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": -3.4943593618663726e-06,
                    "y": 4.95795211463701e-05,
                    "z": -0.00018030953651759773
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002675711002666503,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 1.252464880963089e-05,
                    "y": 1.20750053156371e-06,
                    "z": 0.0002672750852070749
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.891575574874878,
                "transform": {
                    "location": {
                        "x": -174.48342895507812,
                        "y": 4324.37939453125,
                        "z": 373.1164245605469
                    },
                    "rotation": {
                        "roll": -0.0001831061381381005,
                        "pitch": -0.04446452856063843,
                        "yaw": -90.10076141357422
                    }
                },
                "velocity": {
                    "x": -0.0025977909099310637,
                    "y": -1.8915729522705078,
                    "z": -0.0018434429075568914
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000913516036234796,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.624032847757917e-05,
                    "y": 5.721081834053621e-05,
                    "z": 0.000911578128580004
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.14172626126674e-05,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 7.370896582870046e-06,
                    "y": 8.300682566186879e-06,
                    "z": 2.668788511073217e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.191602056380361e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 2.298690333191189e-06,
                    "y": -1.582926961418707e-05,
                    "z": -3.8744070479879156e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001991392346099019,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062316894531
                    },
                    "rotation": {
                        "roll": -0.0008544913143850863,
                        "pitch": -0.0722019225358963,
                        "yaw": -89.60335540771484
                    }
                },
                "velocity": {
                    "x": -5.039062671130523e-06,
                    "y": -2.400819084868999e-06,
                    "z": -0.001991384429857135
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.004193836823105812,
                "transform": {
                    "location": {
                        "x": -174.4488983154297,
                        "y": 4337.625,
                        "z": 373.12652587890625
                    },
                    "rotation": {
                        "roll": -0.011901840567588806,
                        "pitch": 0.4266955554485321,
                        "yaw": -92.83850860595703
                    }
                },
                "velocity": {
                    "x": -0.004064809996634722,
                    "y": -5.414098268374801e-05,
                    "z": -0.001030851504765451
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3505275547504425,
        "expert_target_speed": 10.0,
        "target_point": [
            19.927803806596202,
            0.8655656680632141
        ],
        "target_point_next": [
            30.923045103708027,
            1.18844366498563
        ]
    },
    "870": {
        "acceleration": [
            -0.21790839731693268,
            0.005576536059379578,
            0.0014688493683934212
        ],
        "angular_velocity": [
            -0.0030587157234549522,
            0.0374569408595562,
            0.04635463282465935
        ],
        "forward_vector": [
            -0.9993717074394226,
            0.035272371023893356,
            0.003478043247014284
        ],
        "right_vector": [
            -0.03527213633060455,
            -0.9993777275085449,
            0.0001283635792788118
        ],
        "location": [
            -166.38671875,
            4292.37939453125,
            373.05511474609375
        ],
        "rotation": [
            -0.007354735862463713,
            0.1992775946855545,
            177.97860717773438
        ],
        "velocity": [
            -0.037917476147413254,
            0.0013583695981651545,
            0.001452436437830329
        ],
        "speed": 0.03794179971159608,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.13645935058594,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0495781680219807e-05,
                1.3208189557190053e-05,
                0.000626733060926199
            ],
            "speed_kmh": 0.002257056303643409,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.399238586425781,
                "transform": {
                    "location": {
                        "x": -124.97249603271484,
                        "y": 4301.70703125,
                        "z": 372.9071350097656
                    },
                    "rotation": {
                        "roll": 0.0003483840555418283,
                        "pitch": -0.22466540336608887,
                        "yaw": -0.338043212890625
                    }
                },
                "velocity": {
                    "x": 13.39889907836914,
                    "y": -0.07980866730213165,
                    "z": -0.0522172786295414
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000391204230254516,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 2.2274255115917185e-06,
                    "y": -4.097213604836725e-06,
                    "z": -0.0003911764360964298
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002177928399760276,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0020446775015443563,
                        "pitch": -0.21836113929748535,
                        "yaw": 0.1519959568977356
                    }
                },
                "velocity": {
                    "x": 1.1490620636323001e-05,
                    "y": 1.1486134098959155e-05,
                    "z": 0.00021718599600717425
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029753684997559,
                "transform": {
                    "location": {
                        "x": -174.3766326904297,
                        "y": 4240.27197265625,
                        "z": 372.9114685058594
                    },
                    "rotation": {
                        "roll": -0.021270759403705597,
                        "pitch": -0.2337905317544937,
                        "yaw": -89.0640640258789
                    }
                },
                "velocity": {
                    "x": 0.13329625129699707,
                    "y": -8.028579711914062,
                    "z": -0.03291571885347366
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003731533361133188,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 8.401647392020095e-06,
                    "y": 1.819268800318241e-05,
                    "z": -0.00037261488614603877
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.329363143071532e-06,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 5.561374109674944e-06,
                    "y": -4.670618636737345e-06,
                    "z": -9.879287290459615e-07
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.161692024557851e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 5.5883824643387925e-06,
                    "y": -1.3663321624335367e-05,
                    "z": 4.946099579683505e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005329027189873159,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59716796875,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.22312860190868378,
                        "yaw": 179.8656463623047
                    }
                },
                "velocity": {
                    "x": 2.926751949416939e-05,
                    "y": 6.439383287215605e-05,
                    "z": -0.0005281876074150205
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00044399642501957715,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": 0.0002942921710200608,
                        "pitch": 0.22663933038711548,
                        "yaw": 179.44529724121094
                    }
                },
                "velocity": {
                    "x": 2.0031109670526348e-05,
                    "y": -3.792562347371131e-05,
                    "z": 0.0004419199249241501
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006269600708037615,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0495781680219807e-05,
                    "y": 1.3208189557190053e-05,
                    "z": 0.000626733060926199
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008834702312014997,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0003141055058222264,
                        "pitch": 0.22159181535243988,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": 5.157180112291826e-06,
                    "y": 2.996797547893948e-06,
                    "z": -0.0008834500913508236
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00033121497835963964,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 4.614069894159911e-06,
                    "y": -8.574966341257095e-05,
                    "z": -0.00031988913542591035
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003397718246560544,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 2.375666008447297e-05,
                    "y": -1.43084744195221e-05,
                    "z": -0.00033863811404444277
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004348428046796471,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": -6.410144123947248e-06,
                    "y": -8.134892595990095e-06,
                    "z": -0.00043471946264617145
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.3310840129852295,
                "transform": {
                    "location": {
                        "x": -174.48342895507812,
                        "y": 4323.8857421875,
                        "z": 373.1161193847656
                    },
                    "rotation": {
                        "roll": -6.1034825193928555e-05,
                        "pitch": -0.04959399998188019,
                        "yaw": -90.0985336303711
                    }
                },
                "velocity": {
                    "x": -0.0018902966985478997,
                    "y": -1.3310816287994385,
                    "z": -0.001669712015427649
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00012790277833119035,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 7.842443665140308e-06,
                    "y": -8.642367532729622e-08,
                    "z": 0.00012766208965331316
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.605134770623408e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 9.066126949619502e-06,
                    "y": -7.740833098068833e-06,
                    "z": 3.402329457458109e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00011543272557901219,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 1.1970438208663836e-05,
                    "y": -6.319952717603883e-06,
                    "z": 0.00011463629925856367
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1614054528763518e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 7.415525487886043e-06,
                    "y": -1.2755873513015104e-06,
                    "z": 8.846984201227315e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00014268422091845423,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062316894531
                    },
                    "rotation": {
                        "roll": -0.0008544913143850863,
                        "pitch": -0.0722019225358963,
                        "yaw": -89.60335540771484
                    }
                },
                "velocity": {
                    "x": 1.7579249060872826e-06,
                    "y": -3.2547488899581367e-06,
                    "z": -0.00014263625780586153
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2833057641983032,
                "transform": {
                    "location": {
                        "x": -174.45249938964844,
                        "y": 4337.4248046875,
                        "z": 373.12982177734375
                    },
                    "rotation": {
                        "roll": -0.0004577635554596782,
                        "pitch": 0.011481547728180885,
                        "yaw": -92.55963134765625
                    }
                },
                "velocity": {
                    "x": -0.006070599891245365,
                    "y": -1.2832913398742676,
                    "z": 0.0006087970687076449
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3489009439945221,
        "expert_target_speed": 10.0,
        "target_point": [
            19.920246775987064,
            0.8647945523968948
        ],
        "target_point_next": [
            30.9154962294796,
            1.1873946734166951
        ]
    },
    "875": {
        "acceleration": [
            0.22780008614063263,
            -0.002041580155491829,
            -0.003848266787827015
        ],
        "angular_velocity": [
            -0.002410236280411482,
            -0.04250102862715721,
            -0.001235124422237277
        ],
        "forward_vector": [
            -0.9993726015090942,
            0.03524639829993248,
            0.003466360503807664
        ],
        "right_vector": [
            -0.035246193408966064,
            -0.9993786215782166,
            0.00012037414126098156
        ],
        "location": [
            -166.39498901367188,
            4292.37939453125,
            373.0551452636719
        ],
        "rotation": [
            -0.006896972190588713,
            0.19860823452472687,
            177.9801025390625
        ],
        "velocity": [
            -0.02774086222052574,
            0.0010630161268636584,
            0.0015582561027258635
        ],
        "speed": 0.027761221875561685,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.12818908691406,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.026384506985778e-05,
                -4.070329396199668e-06,
                0.0012977456208318472
            ],
            "speed_kmh": 0.004672053329307021,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.400228500366211,
                "transform": {
                    "location": {
                        "x": -121.62288665771484,
                        "y": 4301.6875,
                        "z": 372.8939514160156
                    },
                    "rotation": {
                        "roll": 4.423455538926646e-05,
                        "pitch": -0.22488395869731903,
                        "yaw": -0.353271484375
                    }
                },
                "velocity": {
                    "x": 13.399876594543457,
                    "y": -0.08159705251455307,
                    "z": -0.0528109148144722
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00012366670125629753,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 6.115511041571153e-06,
                    "y": -0.00012316803622525185,
                    "z": -9.256771591026336e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.649256440345198e-05,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0019226073054596782,
                        "pitch": -0.21829283237457275,
                        "yaw": 0.1519809067249298
                    }
                },
                "velocity": {
                    "x": 8.63328568811994e-06,
                    "y": -2.2693143364449497e-06,
                    "z": 7.596992509206757e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.887035846710205,
                "transform": {
                    "location": {
                        "x": -174.33773803710938,
                        "y": 4238.27001953125,
                        "z": 372.90350341796875
                    },
                    "rotation": {
                        "roll": -0.044494617730379105,
                        "pitch": -0.25979307293891907,
                        "yaw": -88.86656951904297
                    }
                },
                "velocity": {
                    "x": 0.17280137538909912,
                    "y": -7.885073184967041,
                    "z": -0.033064570277929306
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004437511961441487,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 9.891427907859907e-06,
                    "y": 2.2406735297408886e-05,
                    "z": -0.00044307473581284285
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002469774626661092,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": -1.0321103218302596e-05,
                    "y": 3.714773629326373e-05,
                    "z": 0.00024394957290496677
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.229686161736026e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 8.354038072866388e-06,
                    "y": 1.4803502381255385e-05,
                    "z": 7.0270209107548e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.769608393777162e-05,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59765625,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 0.0010409182868897915,
                        "pitch": 0.22330619394779205,
                        "yaw": 179.86569213867188
                    }
                },
                "velocity": {
                    "x": 3.058522997889668e-05,
                    "y": 1.5990137399057858e-05,
                    "z": -8.061924745561555e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006690313457511365,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": 0.0002942921710200608,
                        "pitch": 0.22663933038711548,
                        "yaw": 179.44529724121094
                    }
                },
                "velocity": {
                    "x": 1.7601623767404817e-06,
                    "y": -3.518293669912964e-05,
                    "z": -0.0006681032828055322
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012977925362065434,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.026384506985778e-05,
                    "y": -4.070329396199668e-06,
                    "z": 0.0012977456208318472
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007871696725487709,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0003141055058222264,
                        "pitch": 0.22159181535243988,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": 4.947185516357422e-06,
                    "y": -3.0934163532947423e-06,
                    "z": -0.000787148077506572
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00020993943326175213,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 1.4965534319344442e-05,
                    "y": -9.231856893165968e-06,
                    "z": 0.00020920175302308053
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00013171668979339302,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 2.3115575459087268e-05,
                    "y": -3.3360080124111846e-05,
                    "z": 0.00012530786625575274
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.900045602582395e-05,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 3.7972629343130393e-06,
                    "y": -7.302605354198022e-06,
                    "z": 7.857051241444424e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001201582606881857,
                "transform": {
                    "location": {
                        "x": -174.48342895507812,
                        "y": 4323.85888671875,
                        "z": 373.1162414550781
                    },
                    "rotation": {
                        "roll": 0.00048356971819885075,
                        "pitch": -0.06894392520189285,
                        "yaw": -90.09866333007812
                    }
                },
                "velocity": {
                    "x": 5.2066403441131115e-05,
                    "y": 3.818514596787281e-05,
                    "z": -0.0011998465051874518
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010408018715679646,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 8.448361768387258e-06,
                    "y": 2.5263359930249862e-05,
                    "z": 0.0010404608910903335
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.201919753337279e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 7.702707989665214e-06,
                    "y": -2.1374007701524533e-06,
                    "z": 3.1005300115793943e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005078781978227198,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 7.759854270261712e-06,
                    "y": -2.4517703423043713e-05,
                    "z": 0.0005072266794741154
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00012585046351887286,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 7.725022442173213e-06,
                    "y": 2.314838184247492e-06,
                    "z": 0.00012559181777760386
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6238120224443264e-05,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062316894531
                    },
                    "rotation": {
                        "roll": -0.0008544913143850863,
                        "pitch": -0.0722019225358963,
                        "yaw": -89.60335540771484
                    }
                },
                "velocity": {
                    "x": 1.776388899088488e-06,
                    "y": -2.5290714802395087e-06,
                    "z": -1.594129207660444e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.181058883666992,
                "transform": {
                    "location": {
                        "x": -174.4579620361328,
                        "y": 4336.98779296875,
                        "z": 373.130615234375
                    },
                    "rotation": {
                        "roll": 0.007401865441352129,
                        "pitch": -0.0832190215587616,
                        "yaw": -92.11544799804688
                    }
                },
                "velocity": {
                    "x": -0.00451277382671833,
                    "y": -2.18105411529541,
                    "z": 0.000677833566442132
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3501023054122925,
        "expert_target_speed": 10.0,
        "target_point": [
            19.91200432425595,
            0.8639806273780662
        ],
        "target_point_next": [
            30.90726223449206,
            1.1862923863942842
        ]
    },
    "880": {
        "acceleration": [
            -0.24867109954357147,
            0.0018089311197400093,
            0.012635611928999424
        ],
        "angular_velocity": [
            0.005320113617926836,
            0.055486466735601425,
            -0.013619190081954002
        ],
        "forward_vector": [
            -0.999372661113739,
            0.03524520993232727,
            0.0034751819912344217
        ],
        "right_vector": [
            -0.03524499386548996,
            -0.9993786811828613,
            0.0001230373018188402
        ],
        "location": [
            -166.40374755859375,
            4292.37939453125,
            373.05517578125
        ],
        "rotation": [
            -0.007049561012536287,
            0.199113667011261,
            177.98016357421875
        ],
        "velocity": [
            -0.04016709327697754,
            0.0011139479465782642,
            0.0018031882354989648
        ],
        "speed": 0.04018253678339759,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.11943435668945,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.920803338696714e-06,
                -1.9696983144967817e-05,
                0.0006406759493984282
            ],
            "speed_kmh": 0.0023077466462399603,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.19272232055664,
                "transform": {
                    "location": {
                        "x": -118.28101348876953,
                        "y": 4301.66748046875,
                        "z": 372.88079833984375
                    },
                    "rotation": {
                        "roll": 0.00020493334159255028,
                        "pitch": -0.25537392497062683,
                        "yaw": -0.3491515815258026
                    }
                },
                "velocity": {
                    "x": 13.19236946105957,
                    "y": -0.08102936297655106,
                    "z": -0.052581787109375
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00017277443839702755,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": -1.4045610441826284e-05,
                    "y": -5.46804913028609e-05,
                    "z": 0.0001632904604775831
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00039722773362882435,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.002197265625,
                        "pitch": -0.21826551854610443,
                        "yaw": 0.1519705206155777
                    }
                },
                "velocity": {
                    "x": -1.0277964065608103e-05,
                    "y": 3.2297753023158293e-06,
                    "z": 0.0003970816032961011
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.67563533782959,
                "transform": {
                    "location": {
                        "x": -174.29702758789062,
                        "y": 4236.44970703125,
                        "z": 372.8972473144531
                    },
                    "rotation": {
                        "roll": -0.026153601706027985,
                        "pitch": -0.5627461075782776,
                        "yaw": -88.68508911132812
                    }
                },
                "velocity": {
                    "x": 0.15744712948799133,
                    "y": -6.673721790313721,
                    "z": -0.027449045330286026
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002447763690724969,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": -1.4560297358912067e-06,
                    "y": 4.3772281060228124e-05,
                    "z": 0.0002408263535471633
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003199971397407353,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 3.440640739427181e-06,
                    "y": -1.9374569092178717e-05,
                    "z": -0.0003193915472365916
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.0126946007367224e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.739087439200375e-06,
                    "y": 1.7317660194748896e-06,
                    "z": 4.964167965226807e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008358249324373901,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59716796875,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 2.1990151708450867e-06,
                        "pitch": 0.22375015914440155,
                        "yaw": 179.86570739746094
                    }
                },
                "velocity": {
                    "x": -2.057619349216111e-05,
                    "y": -0.00010448464308865368,
                    "z": 0.0008290131809189916
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.51810704160016e-05,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": 0.0002942921710200608,
                        "pitch": 0.22663933038711548,
                        "yaw": 179.44529724121094
                    }
                },
                "velocity": {
                    "x": 6.5000726863218006e-06,
                    "y": 8.712992894288618e-06,
                    "z": 3.345953518874012e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006410407368093729,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.920803338696714e-06,
                    "y": -1.9696983144967817e-05,
                    "z": 0.0006406759493984282
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002733062137849629,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0003141055058222264,
                        "pitch": 0.22159181535243988,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": 8.218548828153871e-06,
                    "y": 6.792731255700346e-06,
                    "z": -0.0002730981505010277
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005855122581124306,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 1.338373840553686e-05,
                    "y": 2.5404060579603538e-05,
                    "z": 0.0005848077707923949
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002455890935380012,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": -1.1821091447927756e-06,
                    "y": -3.6618454032577574e-05,
                    "z": 0.00024284089158754796
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0001458675687899813,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 8.960068043961655e-06,
                    "y": -7.139849913073704e-06,
                    "z": -0.00014541693963110447
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.48342895507812,
                        "y": 4323.85888671875,
                        "z": 373.1160888671875
                    },
                    "rotation": {
                        "roll": -0.00021362358529586345,
                        "pitch": -0.05093954876065254,
                        "yaw": -90.09866333007812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00044162754784338176,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.8063186644212692e-06,
                    "y": 1.3429294085653964e-05,
                    "z": 0.00044141963007859886
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.89077758789062,
                        "y": 4295.21044921875,
                        "z": 373.0331115722656
                    },
                    "rotation": {
                        "roll": 6.159045733511448e-05,
                        "pitch": 0.1180393248796463,
                        "yaw": 179.65235900878906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00011055000504711643,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 8.233152584580239e-06,
                    "y": -1.163159708994499e-06,
                    "z": 0.0001102368623833172
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00013910238340031356,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 4.477016318560345e-06,
                    "y": 1.8937817003461532e-05,
                    "z": -0.00013773448881693184
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.200382580980659e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 1.7227977195943822e-06,
                    "y": 1.316767156822607e-05,
                    "z": 8.092138887150213e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005352799198590219,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062316894531
                    },
                    "rotation": {
                        "roll": -0.0008544913143850863,
                        "pitch": -0.0722019225358963,
                        "yaw": -89.60335540771484
                    }
                },
                "velocity": {
                    "x": -3.8967923501331825e-06,
                    "y": -4.3540353544813115e-06,
                    "z": -0.0005352480220608413
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.887322187423706,
                "transform": {
                    "location": {
                        "x": -174.46311950683594,
                        "y": 4336.44189453125,
                        "z": 373.12994384765625
                    },
                    "rotation": {
                        "roll": 0.00020175093959551305,
                        "pitch": -0.0008537736139260232,
                        "yaw": -91.64946746826172
                    }
                },
                "velocity": {
                    "x": -0.0036131367087364197,
                    "y": -1.8873178958892822,
                    "z": -0.0018399046966806054
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3540087640285492,
        "expert_target_speed": 10.0,
        "target_point": [
            19.903252045027447,
            0.8636529406351728
        ],
        "target_point_next": [
            30.898510262639,
            1.1859542137561727
        ]
    },
    "885": {
        "acceleration": [
            0.20210258662700653,
            -0.006079403683543205,
            -0.010756682604551315
        ],
        "angular_velocity": [
            0.0444863885641098,
            -0.0365157350897789,
            -0.0053862277418375015
        ],
        "forward_vector": [
            -0.9993733167648315,
            0.03522877022624016,
            0.003459207946434617
        ],
        "right_vector": [
            -0.035228531807661057,
            -0.9993792772293091,
            0.00012942883768118918
        ],
        "location": [
            -166.41249084472656,
            4292.37939453125,
            373.05523681640625
        ],
        "rotation": [
            -0.007415770553052425,
            0.19819842278957367,
            177.98110961914062
        ],
        "velocity": [
            -0.028063897043466568,
            0.001017488888464868,
            0.0012905788607895374
        ],
        "speed": 0.028082336101265527,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.110687255859375,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.479692041873932e-06,
                2.166932426916901e-05,
                0.00015543689369224012
            ],
            "speed_kmh": 0.0005658083788252152,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.434670448303223,
                "transform": {
                    "location": {
                        "x": -115.19999694824219,
                        "y": 4301.64892578125,
                        "z": 372.8684997558594
                    },
                    "rotation": {
                        "roll": 0.0012661777436733246,
                        "pitch": -0.5076606273651123,
                        "yaw": -0.3526611328125
                    }
                },
                "velocity": {
                    "x": 11.43436336517334,
                    "y": -0.07022394239902496,
                    "z": -0.045855529606342316
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00043557840399444103,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 2.8926879167556763e-06,
                    "y": 9.118142770603299e-06,
                    "z": -0.0004354733391664922
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00015772113692946732,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0018005369929596782,
                        "pitch": -0.21823136508464813,
                        "yaw": 0.15195800364017487
                    }
                },
                "velocity": {
                    "x": 9.81722041615285e-06,
                    "y": -1.7533863001517602e-06,
                    "z": 0.00015740554954390973
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8040143251419067,
                "transform": {
                    "location": {
                        "x": -174.2715606689453,
                        "y": 4235.33349609375,
                        "z": 372.89642333984375
                    },
                    "rotation": {
                        "roll": 0.007855363190174103,
                        "pitch": -1.6238090991973877,
                        "yaw": -88.4910888671875
                    }
                },
                "velocity": {
                    "x": 0.03794819116592407,
                    "y": -1.8035944700241089,
                    "z": -0.008645172230899334
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001398425956722349,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 1.0695792298065498e-05,
                    "y": -8.750427696213592e-06,
                    "z": -0.0001391581172356382
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003387818578630686,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 5.718469310522778e-06,
                    "y": -1.1236090358579531e-05,
                    "z": 0.00033854719367809594
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005692103295587003,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59716796875,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 8.179358701454476e-05,
                        "pitch": 0.22347694635391235,
                        "yaw": 179.86570739746094
                    }
                },
                "velocity": {
                    "x": 1.0871477570617571e-05,
                    "y": 3.7969137338222936e-05,
                    "z": 0.0005678384914062917
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004796027496922761,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": 0.22678959369659424,
                        "yaw": 179.44540405273438
                    }
                },
                "velocity": {
                    "x": -1.4939382708689664e-05,
                    "y": 1.5668922060285695e-05,
                    "z": -0.0004791138635482639
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001571689936099574,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.479692041873932e-06,
                    "y": 2.166932426916901e-05,
                    "z": 0.00015543689369224012
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011888203443959355,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0003141055058222264,
                        "pitch": 0.22159181535243988,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": 4.505365893692215e-07,
                    "y": -2.670866706466768e-06,
                    "z": -0.0011888172011822462
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007394631975330412,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 2.7711204893421382e-05,
                    "y": 5.096879613120109e-05,
                    "z": 0.0007371838437393308
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.064846431603655e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.1299550351395737e-05,
                    "y": -6.959956954233348e-05,
                    "z": -4.40742132923333e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003275762137491256,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 1.8876753529184498e-05,
                    "y": -2.1281897716107778e-05,
                    "z": 0.00032633866067044437
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.48342895507812,
                        "y": 4323.85888671875,
                        "z": 373.1160888671875
                    },
                    "rotation": {
                        "roll": -0.00021362358529586345,
                        "pitch": -0.05093954876065254,
                        "yaw": -90.09866333007812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015519537264481187,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 9.62421290751081e-06,
                    "y": 7.418635050271405e-06,
                    "z": 0.0015519061125814915
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.05217457935214043,
                "transform": {
                    "location": {
                        "x": -159.89984130859375,
                        "y": 4295.21044921875,
                        "z": 373.0326843261719
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": 0.1858426034450531,
                        "yaw": 179.64649963378906
                    }
                },
                "velocity": {
                    "x": -0.052174024283885956,
                    "y": 0.0001674053055467084,
                    "z": 0.00017299651517532766
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.875982318073511e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 1.3934671187598724e-05,
                    "y": 9.003388186101802e-06,
                    "z": -2.3492370019084774e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001603568234713748,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 8.132717994158156e-06,
                    "y": 1.5463663658010773e-05,
                    "z": -0.0001594021450728178
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.320762183051556e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 1.860968723121914e-06,
                    "y": -1.7375517927575856e-05,
                    "z": 9.155484440270811e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00010206917067989707,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062316894531
                    },
                    "rotation": {
                        "roll": -0.0008544913143850863,
                        "pitch": -0.0722019225358963,
                        "yaw": -89.60335540771484
                    }
                },
                "velocity": {
                    "x": 2.843601407676033e-07,
                    "y": -2.0383670289447764e-06,
                    "z": -0.00010204841964878142
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.355675458908081,
                "transform": {
                    "location": {
                        "x": -174.46546936035156,
                        "y": 4336.12939453125,
                        "z": 373.12945556640625
                    },
                    "rotation": {
                        "roll": -0.0025329587515443563,
                        "pitch": 0.047312717884778976,
                        "yaw": -91.32866668701172
                    }
                },
                "velocity": {
                    "x": -0.002517224755138159,
                    "y": -1.3556724786758423,
                    "z": -0.0013645457802340388
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3513539135456085,
        "expert_target_speed": 10.0,
        "target_point": [
            19.894528597010414,
            0.8630127556131459
        ],
        "target_point_next": [
            30.88979219207351,
            1.1851305255203919
        ]
    },
    "890": {
        "acceleration": [
            -0.3262035548686981,
            0.00771739985793829,
            -0.0031904224306344986
        ],
        "angular_velocity": [
            0.009342793375253677,
            0.07235834002494812,
            -0.11296066641807556
        ],
        "forward_vector": [
            -0.9993736743927002,
            0.03521471098065376,
            0.003492348361760378
        ],
        "right_vector": [
            -0.03521445766091347,
            -0.9993797540664673,
            0.00013368982763495296
        ],
        "location": [
            -166.42147827148438,
            4292.37939453125,
            373.0552673339844
        ],
        "rotation": [
            -0.0076599097810685635,
            0.2000972181558609,
            177.98191833496094
        ],
        "velocity": [
            -0.0491170734167099,
            0.0016197706572711468,
            0.0010778522118926048
        ],
        "speed": 0.04914377435652075,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.10169982910156,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.642541044740938e-06,
                2.1279229258652776e-06,
                0.0008312469581142068
            ],
            "speed_kmh": 0.002992700184763182,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.266063690185547,
                "transform": {
                    "location": {
                        "x": -112.58476257324219,
                        "y": 4301.6328125,
                        "z": 372.858154296875
                    },
                    "rotation": {
                        "roll": -0.0002746584068518132,
                        "pitch": -0.6489567160606384,
                        "yaw": -0.3482665717601776
                    }
                },
                "velocity": {
                    "x": 9.26583194732666,
                    "y": -0.054600417613983154,
                    "z": -0.03614547476172447
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00014520870172418654,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 2.775698885670863e-05,
                    "y": -2.5623814508435316e-05,
                    "z": 0.00014020891103427857
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003840353456325829,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.21838845312595367,
                        "yaw": 0.1519501805305481
                    }
                },
                "velocity": {
                    "x": 1.2566931218316313e-05,
                    "y": 3.233548795833485e-06,
                    "z": 0.0003838160482700914
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.012933549471199512,
                "transform": {
                    "location": {
                        "x": -174.2714080810547,
                        "y": 4235.2744140625,
                        "z": 372.8957824707031
                    },
                    "rotation": {
                        "roll": 0.0009109372622333467,
                        "pitch": -1.5522764921188354,
                        "yaw": -88.36284637451172
                    }
                },
                "velocity": {
                    "x": -0.0005234221462160349,
                    "y": 0.012802579440176487,
                    "z": 0.0017597464611753821
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004724429454654455,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": -3.4248455449414905e-06,
                    "y": 1.4286124496720731e-05,
                    "z": 0.00047221448039636016
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00030086669721640646,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 8.054934369283728e-06,
                    "y": 5.961302576906746e-06,
                    "z": -0.00030069975764490664
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00035824213409796357,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 4.091300070285797e-06,
                    "y": -1.516323482064763e-05,
                    "z": 0.0003578977193683386
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007700580754317343,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59716796875,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": 0.22331301867961884,
                        "yaw": 179.86570739746094
                    }
                },
                "velocity": {
                    "x": 1.0436921911605168e-05,
                    "y": 4.833715865970589e-05,
                    "z": 0.0007684686570428312
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004500851791817695,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": 0.22678959369659424,
                        "yaw": 179.44540405273438
                    }
                },
                "velocity": {
                    "x": -9.781904736883007e-06,
                    "y": -6.430381745303748e-06,
                    "z": -0.00044993290794081986
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008313055732287467,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.642541044740938e-06,
                    "y": 2.1279229258652776e-06,
                    "z": 0.0008312469581142068
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002607984934002161,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0003141055058222264,
                        "pitch": 0.22159181535243988,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": 6.780326202715514e-06,
                    "y": -3.088190396738355e-06,
                    "z": -0.00026069206069223583
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002499764959793538,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 3.510028182063252e-05,
                    "y": -5.658692771248752e-06,
                    "z": 0.00024743523681536317
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004120701050851494,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 9.937509275914636e-06,
                    "y": 6.409081834135577e-05,
                    "z": 0.00040693412302061915
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002551836660131812,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 1.1877603355969768e-05,
                    "y": 8.5732453953824e-06,
                    "z": 0.00025476288283243775
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.48342895507812,
                        "y": 4323.85888671875,
                        "z": 373.1160888671875
                    },
                    "rotation": {
                        "roll": -0.00021362358529586345,
                        "pitch": -0.05093954876065254,
                        "yaw": -90.09866333007812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001331017934717238,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 1.7344280422548763e-05,
                    "y": -6.973312338232063e-06,
                    "z": 0.0013308866182342172
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8376399874687195,
                "transform": {
                    "location": {
                        "x": -160.00819396972656,
                        "y": 4295.2109375,
                        "z": 373.03253173828125
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": 0.3807488679885864,
                        "yaw": 179.65684509277344
                    }
                },
                "velocity": {
                    "x": -0.837622344493866,
                    "y": 0.004880576394498348,
                    "z": 0.0023816584143787622
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00015538418665528297,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 2.169087565562222e-06,
                    "y": 3.616125923144864e-06,
                    "z": 0.0001553269539726898
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00030612992122769356,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 8.016899300855584e-06,
                    "y": -1.2184309525764547e-06,
                    "z": 0.00030602249898947775
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.528360164433252e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 1.0918975021922961e-05,
                    "y": -1.4327787539514247e-05,
                    "z": 1.7741223928169347e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00015988029190339148,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062316894531
                    },
                    "rotation": {
                        "roll": -0.0008544913143850863,
                        "pitch": -0.0722019225358963,
                        "yaw": -89.60335540771484
                    }
                },
                "velocity": {
                    "x": 3.379936060809996e-06,
                    "y": -1.158220698016521e-06,
                    "z": 0.00015984036144800484
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.125596761703491,
                "transform": {
                    "location": {
                        "x": -174.46780395507812,
                        "y": 4335.6904296875,
                        "z": 373.1303405761719
                    },
                    "rotation": {
                        "roll": 0.0021688402630388737,
                        "pitch": -0.07299422472715378,
                        "yaw": -91.09652709960938
                    }
                },
                "velocity": {
                    "x": -0.004194627515971661,
                    "y": -2.125591993331909,
                    "z": -0.0017388915875926614
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3393394947052002,
        "expert_target_speed": 10.0,
        "target_point": [
            19.88555867661993,
            0.8624211583962136
        ],
        "target_point_next": [
            30.880826724965704,
            1.184386882715522
        ]
    },
    "895": {
        "acceleration": [
            -3.162440061569214,
            0.10484617203474045,
            0.01623516157269478
        ],
        "angular_velocity": [
            0.012070630677044392,
            0.9580649137496948,
            0.5210038423538208
        ],
        "forward_vector": [
            -0.9993529915809631,
            0.03529437258839607,
            0.0069250501692295074
        ],
        "right_vector": [
            -0.03529420867562294,
            -0.9993770122528076,
            0.0001459377381252125
        ],
        "location": [
            -166.5128936767578,
            4292.38232421875,
            373.0549621582031
        ],
        "rotation": [
            -0.00836181640625,
            0.396779328584671,
            177.97731018066406
        ],
        "velocity": [
            -0.817573070526123,
            0.027122942730784416,
            0.0025997543707489967
        ],
        "speed": 0.818022847891115,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 55.010284423828125,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.133165465551428e-06,
                -6.289325824582193e-07,
                0.00013186346041038632
            ],
            "speed_kmh": 0.00047561594697821,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.231215476989746,
                "transform": {
                    "location": {
                        "x": -110.5609359741211,
                        "y": 4301.62109375,
                        "z": 372.85009765625
                    },
                    "rotation": {
                        "roll": 0.0011449218727648258,
                        "pitch": -0.6614901423454285,
                        "yaw": -0.3439025580883026
                    }
                },
                "velocity": {
                    "x": 7.231020927429199,
                    "y": -0.04441395029425621,
                    "z": -0.029035720974206924
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005612563109025359,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 2.3312865948810213e-07,
                    "y": 2.5033434212673455e-05,
                    "z": -0.0005606976919807494
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004352227260824293,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.21838845312595367,
                        "yaw": 0.1519501805305481
                    }
                },
                "velocity": {
                    "x": 1.3609975439976552e-06,
                    "y": -2.306956594111398e-05,
                    "z": 0.00043460875167511404
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.007119355723261833,
                "transform": {
                    "location": {
                        "x": -174.2711639404297,
                        "y": 4235.26904296875,
                        "z": 372.89288330078125
                    },
                    "rotation": {
                        "roll": -0.0006104180356487632,
                        "pitch": -0.7330568432807922,
                        "yaw": -88.36309814453125
                    }
                },
                "velocity": {
                    "x": -0.0002478759561199695,
                    "y": 0.006913386285305023,
                    "z": 0.00168192433193326
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.2058489776100032e-05,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 5.219951162871439e-06,
                    "y": 4.001213710580487e-06,
                    "z": 2.1055149773019366e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003556688316166401,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 7.268674380611628e-06,
                    "y": -2.461438998579979e-05,
                    "z": 0.000354741612682119
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.347856106003746e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.006210696796188e-06,
                    "y": -7.518816801166395e-06,
                    "z": 6.274488259805366e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00039194742566905916,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59765625,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 0.0002121841098414734,
                        "pitch": 0.22348377108573914,
                        "yaw": 179.86570739746094
                    }
                },
                "velocity": {
                    "x": 5.2374674851307645e-05,
                    "y": -7.533128155046143e-06,
                    "z": 0.00038835930172353983
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00010182363621424884,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": 0.22678959369659424,
                        "yaw": 179.44540405273438
                    }
                },
                "velocity": {
                    "x": 4.659481419366784e-06,
                    "y": 1.4019857189850882e-05,
                    "z": -0.00010074613965116441
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00013211554323788732,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.133165465551428e-06,
                    "y": -6.289325824582193e-07,
                    "z": 0.00013186346041038632
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006884660688228905,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0003141055058222264,
                        "pitch": 0.22159181535243988,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": 4.092976269021165e-06,
                    "y": 9.684364158601966e-06,
                    "z": -0.0006883858004584908
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004898896440863609,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 3.048278267669957e-05,
                    "y": 1.697719540061371e-06,
                    "z": 0.0004889374249614775
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00025266650482080877,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.7966701761906734e-06,
                    "y": 3.7293313653208315e-05,
                    "z": 0.0002498926769476384
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.828199159121141e-05,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 7.828585694369394e-06,
                    "y": -7.215433015517192e-07,
                    "z": 7.78862158767879e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.48342895507812,
                        "y": 4323.85888671875,
                        "z": 373.1160888671875
                    },
                    "rotation": {
                        "roll": -0.00021362358529586345,
                        "pitch": -0.05093954876065254,
                        "yaw": -90.09866333007812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00042815294000320137,
                "transform": {
                    "location": {
                        "x": -150.9265594482422,
                        "y": 4295.15869140625,
                        "z": 372.9943542480469
                    },
                    "rotation": {
                        "roll": 0.0006019482971169055,
                        "pitch": 0.20628535747528076,
                        "yaw": 179.62840270996094
                    }
                },
                "velocity": {
                    "x": 9.923800462274812e-06,
                    "y": 1.2752634575008415e-05,
                    "z": 0.00042784790275618434
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6462582349777222,
                "transform": {
                    "location": {
                        "x": -160.32554626464844,
                        "y": 4295.212890625,
                        "z": 373.0330505371094
                    },
                    "rotation": {
                        "roll": 9.652677545091137e-05,
                        "pitch": 0.5205560326576233,
                        "yaw": 179.63467407226562
                    }
                },
                "velocity": {
                    "x": -1.646215796470642,
                    "y": 0.010413607582449913,
                    "z": 0.005586786195635796
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00011059206735808402,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 8.025727765925694e-06,
                    "y": -2.3586787847307278e-06,
                    "z": 0.00011027524305973202
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00023006230185274035,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 5.3624062275048345e-06,
                    "y": -2.3771171981934458e-05,
                    "z": -0.00022876808361615986
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0792718057928141e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 6.982758350204676e-06,
                    "y": 1.1368538110900772e-08,
                    "z": 8.229442755691707e-06
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00013682234566658735,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062316894531
                    },
                    "rotation": {
                        "roll": -0.0008544913143850863,
                        "pitch": -0.0722019225358963,
                        "yaw": -89.60335540771484
                    }
                },
                "velocity": {
                    "x": 1.1923813872272149e-05,
                    "y": -2.681370688151219e-06,
                    "z": -0.00013627541193272918
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7368472814559937,
                "transform": {
                    "location": {
                        "x": -174.46983337402344,
                        "y": 4335.1982421875,
                        "z": 373.1296081542969
                    },
                    "rotation": {
                        "roll": -0.0009460453293286264,
                        "pitch": 0.008421623148024082,
                        "yaw": -90.88365936279297
                    }
                },
                "velocity": {
                    "x": -0.0022021541371941566,
                    "y": -1.7368448972702026,
                    "z": -0.0018725395202636719
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3597061336040497,
        "expert_target_speed": 10.0,
        "target_point": [
            19.794027674298416,
            0.8637155327700181
        ],
        "target_point_next": [
            30.789269895126594,
            1.1865620720534296
        ]
    },
    "900": {
        "acceleration": [
            -3.793671131134033,
            0.11817045509815216,
            0.04657439887523651
        ],
        "angular_velocity": [
            0.039593130350112915,
            0.47052913904190063,
            -0.22367899119853973
        ],
        "forward_vector": [
            -0.9993413686752319,
            0.03497692570090294,
            0.009659617207944393
        ],
        "right_vector": [
            -0.03497708588838577,
            -0.9993880987167358,
            0.00015232567966450006
        ],
        "location": [
            -166.84117126464844,
            4292.39306640625,
            373.0553283691406
        ],
        "rotation": [
            -0.008728026412427425,
            0.553463876247406,
            177.99546813964844
        ],
        "velocity": [
            -1.7865153551101685,
            0.05878062546253204,
            0.005747928284108639
        ],
        "speed": 1.7874821050780278,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 54.68199920654297,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.179199625767069e-05,
                -4.8078218242153525e-06,
                0.0012158462777733803
            ],
            "speed_kmh": 0.004377286672588804,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.186763286590576,
                "transform": {
                    "location": {
                        "x": -109.27491760253906,
                        "y": 4301.61279296875,
                        "z": 372.8445739746094
                    },
                    "rotation": {
                        "roll": 0.0002218598237959668,
                        "pitch": -1.149138331413269,
                        "yaw": -0.3462523818016052
                    }
                },
                "velocity": {
                    "x": 2.1867001056671143,
                    "y": -0.01316836103796959,
                    "z": -0.010159997269511223
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00041864480590447783,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 1.2023746194245177e-06,
                    "y": -5.3593703341903165e-06,
                    "z": -0.0004186087753623724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.324502803385258e-05,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": -0.21832698583602905,
                        "yaw": 0.15191945433616638
                    }
                },
                "velocity": {
                    "x": 7.16216845830786e-06,
                    "y": -1.3033772120252252e-05,
                    "z": 7.1719303377904e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0028953871224075556,
                "transform": {
                    "location": {
                        "x": -174.27108764648438,
                        "y": 4235.2666015625,
                        "z": 372.89166259765625
                    },
                    "rotation": {
                        "roll": -0.0006408793269656599,
                        "pitch": -0.3987669050693512,
                        "yaw": -88.363037109375
                    }
                },
                "velocity": {
                    "x": -7.235183875309303e-05,
                    "y": 0.0024652823340147734,
                    "z": 0.001516711781732738
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006800986593589187,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 1.1274367352598347e-05,
                    "y": -1.1110340892628301e-05,
                    "z": -0.0006799144321121275
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00029034234466962516,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 2.9676034500880633e-06,
                    "y": -5.338275514077395e-05,
                    "z": 0.00028537720208987594
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00026205548783764243,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.2790513766231015e-06,
                    "y": 2.345379652979318e-05,
                    "z": 0.00026092829648405313
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000665169267449528,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59716796875,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": -3.051758176297881e-05,
                        "pitch": 0.2234632819890976,
                        "yaw": 179.86575317382812
                    }
                },
                "velocity": {
                    "x": 2.1641551938955672e-05,
                    "y": 3.6999575968366116e-05,
                    "z": 0.0006637867190875113
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.625495345564559e-05,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": 0.22678959369659424,
                        "yaw": 179.44540405273438
                    }
                },
                "velocity": {
                    "x": 8.792429753157194e-07,
                    "y": -1.041497216647258e-05,
                    "z": 7.553524483228102e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012159128673374653,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.179199625767069e-05,
                    "y": -4.8078218242153525e-06,
                    "z": 0.0012158462777733803
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006618984625674784,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0003141055058222264,
                        "pitch": 0.22159181535243988,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": 5.259551016933983e-06,
                    "y": 1.3522774679586291e-05,
                    "z": -0.0006617393810302019
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010519517818465829,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 7.663928045076318e-06,
                    "y": -1.4039486813999247e-05,
                    "z": 0.0010518301278352737
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000275059777777642,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": -3.649666723504197e-06,
                    "y": 6.0299520555417985e-05,
                    "z": 0.00026834403979592025
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.47159351198934e-05,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 4.568807526084129e-06,
                    "y": -7.233859832922462e-06,
                    "z": 9.432870865566656e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.48342895507812,
                        "y": 4323.85888671875,
                        "z": 373.1160888671875
                    },
                    "rotation": {
                        "roll": -0.00021362358529586345,
                        "pitch": -0.05093954876065254,
                        "yaw": -90.09866333007812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.2388651967048645,
                "transform": {
                    "location": {
                        "x": -150.94374084472656,
                        "y": 4295.158203125,
                        "z": 372.99432373046875
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": 0.21702241897583008,
                        "yaw": 179.61741638183594
                    }
                },
                "velocity": {
                    "x": -0.2388606071472168,
                    "y": 0.0005467194714583457,
                    "z": 0.0013752650702372193
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5823559761047363,
                "transform": {
                    "location": {
                        "x": -160.85491943359375,
                        "y": 4295.21630859375,
                        "z": 373.0347900390625
                    },
                    "rotation": {
                        "roll": 0.0004189507744740695,
                        "pitch": 0.5763928294181824,
                        "yaw": 179.62460327148438
                    }
                },
                "velocity": {
                    "x": -2.582294225692749,
                    "y": 0.01605135016143322,
                    "z": 0.007867136038839817
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2797609088011086e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 7.1734189077687915e-06,
                    "y": 1.425415689482179e-06,
                    "z": 1.0501858923817053e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.395853754132986e-05,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 4.4863295443065e-06,
                    "y": -2.2149273718241602e-05,
                    "z": -7.042121433187276e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001621817355044186,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 8.056201295403298e-06,
                    "y": -2.038206730503589e-06,
                    "z": 0.00016196869546547532
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00023774232249706984,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062316894531
                    },
                    "rotation": {
                        "roll": -0.0008544913143850863,
                        "pitch": -0.0722019225358963,
                        "yaw": -89.60335540771484
                    }
                },
                "velocity": {
                    "x": -7.506714609917253e-06,
                    "y": -3.160554797432269e-06,
                    "z": 0.0002376027696300298
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1431121826171875,
                "transform": {
                    "location": {
                        "x": -174.47125244140625,
                        "y": 4334.7275390625,
                        "z": 373.1298828125
                    },
                    "rotation": {
                        "roll": 0.0009424762101843953,
                        "pitch": -0.03900037705898285,
                        "yaw": -90.72271728515625
                    }
                },
                "velocity": {
                    "x": -0.0038750385865569115,
                    "y": -2.143108367919922,
                    "z": -0.001295328140258789
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.35316669940948486,
        "expert_target_speed": 10.0,
        "target_point": [
            19.465847702597173,
            0.8567012983158613
        ],
        "target_point_next": [
            30.46119159192762,
            1.1760665092789773
        ]
    },
    "905": {
        "acceleration": [
            -7.871923446655273,
            0.2401779592037201,
            0.006386358290910721
        ],
        "angular_velocity": [
            0.04176689311861992,
            1.1198748350143433,
            0.22210317850112915
        ],
        "forward_vector": [
            -0.9993307590484619,
            0.03402189910411835,
            0.013438534922897816
        ],
        "right_vector": [
            -0.03402181714773178,
            -0.9994211196899414,
            0.0002348695561522618
        ],
        "location": [
            -167.4910888671875,
            4292.41455078125,
            373.0567932128906
        ],
        "rotation": [
            -0.01345825009047985,
            0.7699944972991943,
            178.05014038085938
        ],
        "velocity": [
            -3.427802085876465,
            0.11022939532995224,
            0.010801820084452629
        ],
        "speed": 3.42957397639034,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 54.032073974609375,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.060135673469631e-05,
                1.0118588761542924e-05,
                0.0006076022400520742
            ],
            "speed_kmh": 0.0021880042337902228,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.010845992714166641,
                "transform": {
                    "location": {
                        "x": -109.19203186035156,
                        "y": 4301.61279296875,
                        "z": 372.84429931640625
                    },
                    "rotation": {
                        "roll": 0.0002125828032149002,
                        "pitch": -0.8426130414009094,
                        "yaw": -0.34619131684303284
                    }
                },
                "velocity": {
                    "x": -0.010621445253491402,
                    "y": 0.0001698292326182127,
                    "z": 0.0021889761555939913
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00038192313513718545,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 8.180588338291273e-06,
                    "y": -1.3060350283922162e-05,
                    "z": 0.00038161210250109434
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004213832726236433,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.21838845312595367,
                        "yaw": 0.15191224217414856
                    }
                },
                "velocity": {
                    "x": 5.487166163220536e-06,
                    "y": -2.828890319506172e-05,
                    "z": 0.00042039682739414275
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003171978169120848,
                "transform": {
                    "location": {
                        "x": -174.27101135253906,
                        "y": 4235.265625,
                        "z": 372.8913269042969
                    },
                    "rotation": {
                        "roll": 3.348436803207733e-05,
                        "pitch": -0.29281702637672424,
                        "yaw": -88.36304473876953
                    }
                },
                "velocity": {
                    "x": -7.821081453585066e-06,
                    "y": 0.0003080297901760787,
                    "z": 7.530560833401978e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00036184844793751836,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 1.8972865291289054e-05,
                    "y": -6.282865797402337e-05,
                    "z": -0.00035584671422839165
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9427312256302685e-05,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 1.1550746421562508e-05,
                    "y": 5.1228735173936e-06,
                    "z": -2.6576364689390175e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.005104271229357e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 8.16859301266959e-06,
                    "y": 4.084266038262285e-06,
                    "z": -6.945316272322088e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00024756829952821136,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59765625,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 0.00024101775488816202,
                        "pitch": 0.22317641973495483,
                        "yaw": 179.86575317382812
                    }
                },
                "velocity": {
                    "x": 4.969090241502272e-06,
                    "y": -1.0167304026253987e-05,
                    "z": 0.0002473095082677901
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.347068508854136e-05,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": 0.22678959369659424,
                        "yaw": 179.44540405273438
                    }
                },
                "velocity": {
                    "x": 7.83521682024002e-06,
                    "y": 1.004953810479492e-05,
                    "z": 5.193005199544132e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006077789585106075,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.060135673469631e-05,
                    "y": 1.0118588761542924e-05,
                    "z": 0.0006076022400520742
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003714269259944558,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0003141055058222264,
                        "pitch": 0.22159181535243988,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": 5.9390440583229065e-06,
                    "y": 3.222814939363161e-06,
                    "z": -0.0003713654587045312
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003149299882352352,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": -3.2108275149766996e-07,
                    "y": -1.3944522834208328e-05,
                    "z": 0.0003146209637634456
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00020774760923814029,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.0800808013300411e-05,
                    "y": -5.8594392612576485e-05,
                    "z": -0.0001990203745663166
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.4243944759946316e-05,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 5.913749191677198e-06,
                    "y": 1.4215970622899476e-05,
                    "z": 5.201287422096357e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.48342895507812,
                        "y": 4323.85888671875,
                        "z": 373.1160888671875
                    },
                    "rotation": {
                        "roll": -0.00021362358529586345,
                        "pitch": -0.05093954876065254,
                        "yaw": -90.09866333007812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0905851125717163,
                "transform": {
                    "location": {
                        "x": -151.12850952148438,
                        "y": 4295.1591796875,
                        "z": 372.9949951171875
                    },
                    "rotation": {
                        "roll": -0.0006713866605423391,
                        "pitch": 0.2514533996582031,
                        "yaw": 179.60354614257812
                    }
                },
                "velocity": {
                    "x": -1.0905539989471436,
                    "y": 0.002978374483063817,
                    "z": 0.007690744008868933
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.9623725414276123,
                "transform": {
                    "location": {
                        "x": -161.67640686035156,
                        "y": 4295.22119140625,
                        "z": 373.0370178222656
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": 0.7263564467430115,
                        "yaw": 179.63096618652344
                    }
                },
                "velocity": {
                    "x": -3.962266445159912,
                    "y": 0.025477489456534386,
                    "z": 0.013844222761690617
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.9778205468319356e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 1.4119184925220907e-05,
                    "y": 1.0696539902710356e-05,
                    "z": 5.709348988602869e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.9201229305472225e-05,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 7.360391009569867e-06,
                    "y": -5.08507127960911e-06,
                    "z": -5.852138201589696e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00014064597780816257,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 8.151196198014077e-06,
                    "y": 8.6970812844811e-06,
                    "z": -0.00014013996405992657
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00033802687539719045,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062316894531
                    },
                    "rotation": {
                        "roll": -0.0008544913143850863,
                        "pitch": -0.0722019225358963,
                        "yaw": -89.60335540771484
                    }
                },
                "velocity": {
                    "x": 5.5480049923062325e-06,
                    "y": -1.0267644938721787e-06,
                    "z": 0.00033797978539951146
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.74481999874115,
                "transform": {
                    "location": {
                        "x": -174.472412109375,
                        "y": 4334.232421875,
                        "z": 373.12939453125
                    },
                    "rotation": {
                        "roll": -0.00039672834100201726,
                        "pitch": 0.011030755005776882,
                        "yaw": -90.58706665039062
                    }
                },
                "velocity": {
                    "x": -0.0025137378834187984,
                    "y": -1.7448171377182007,
                    "z": -0.0018183421343564987
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.38087189197540283,
        "expert_target_speed": 10.0,
        "target_point": [
            18.816383969542642,
            0.8374861619728777
        ],
        "target_point_next": [
            29.812027576406823,
            1.146360009096287
        ]
    },
    "910": {
        "acceleration": [
            -7.02000617980957,
            0.19205957651138306,
            0.1305462121963501
        ],
        "angular_velocity": [
            0.07475284487009048,
            0.3938775360584259,
            0.3852439224720001
        ],
        "forward_vector": [
            -0.9993352293968201,
            0.03261595219373703,
            0.01628398522734642
        ],
        "right_vector": [
            -0.03261934220790863,
            -0.9994678497314453,
            5.7516630477039143e-05
        ],
        "location": [
            -168.58140563964844,
            4292.44921875,
            373.0599060058594
        ],
        "rotation": [
            -0.0032958972733467817,
            0.9330447912216187,
            178.1306610107422
        ],
        "velocity": [
            -5.196015357971191,
            0.1601983606815338,
            0.022713756188750267
        ],
        "speed": 5.198484309396108,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 52.94175720214844,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0717026270867791e-05,
                -1.6968680938589387e-05,
                0.00029853725573047996
            ],
            "speed_kmh": 0.0010771599689079975,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.003174357581883669,
                "transform": {
                    "location": {
                        "x": -109.18905639648438,
                        "y": 4301.61279296875,
                        "z": 372.8445129394531
                    },
                    "rotation": {
                        "roll": 4.456869646674022e-06,
                        "pitch": -0.36913755536079407,
                        "yaw": -0.3461303412914276
                    }
                },
                "velocity": {
                    "x": -0.002840592758730054,
                    "y": 9.10484668565914e-05,
                    "z": 0.001413962454535067
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00016115620383061469,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": -2.0058378140674904e-05,
                    "y": -1.414877078786958e-05,
                    "z": -0.0001592758490005508
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001056032779160887,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.21836113929748535,
                        "yaw": 0.15189924836158752
                    }
                },
                "velocity": {
                    "x": 1.094128947443096e-05,
                    "y": 3.6220590118318796e-06,
                    "z": 0.00010497247421881184
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003931006940547377,
                "transform": {
                    "location": {
                        "x": -174.27101135253906,
                        "y": 4235.265625,
                        "z": 372.8912048339844
                    },
                    "rotation": {
                        "roll": -0.00015258690109476447,
                        "pitch": -0.2586933970451355,
                        "yaw": -88.3630599975586
                    }
                },
                "velocity": {
                    "x": 6.440481956815347e-05,
                    "y": 0.00029831824940629303,
                    "z": 0.00024776277132332325
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001559374068165198,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 1.417472930143049e-07,
                    "y": 2.8991938961553387e-05,
                    "z": 0.00015321854152716696
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.218338679289445e-05,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 1.9069257177761756e-05,
                    "y": 2.0943958588759415e-05,
                    "z": 1.5280200386769138e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.667911268072203e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 8.795634130365215e-06,
                    "y": 8.37584934743063e-08,
                    "z": 7.617293886141852e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007505322573706508,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59765625,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 0.00024101775488816202,
                        "pitch": 0.22317641973495483,
                        "yaw": 179.86575317382812
                    }
                },
                "velocity": {
                    "x": 1.0253898835799191e-05,
                    "y": 1.4088455827732105e-05,
                    "z": 0.0007503299857489765
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002396531344857067,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": 0.22678959369659424,
                        "yaw": 179.44540405273438
                    }
                },
                "velocity": {
                    "x": 1.4682076653116383e-05,
                    "y": -3.368922261870466e-05,
                    "z": 0.00023681869788561016
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002992110967170447,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0717026270867791e-05,
                    "y": -1.6968680938589387e-05,
                    "z": 0.00029853725573047996
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009288735454902053,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0003141055058222264,
                        "pitch": 0.22159181535243988,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": 5.227886049397057e-06,
                    "y": 6.6957127273781225e-06,
                    "z": -0.0009288346627727151
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005750937853008509,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 1.3004019820073154e-05,
                    "y": 1.1045568498957437e-05,
                    "z": 0.0005748406401835382
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003505144268274307,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 7.558464858448133e-06,
                    "y": 2.801750088110566e-05,
                    "z": 0.0003493110998533666
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00014485673455055803,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 1.459755003452301e-05,
                    "y": 1.1712501873262227e-05,
                    "z": 0.0001436426246073097
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010935539612546563,
                "transform": {
                    "location": {
                        "x": -174.48342895507812,
                        "y": 4323.85888671875,
                        "z": 373.1158447265625
                    },
                    "rotation": {
                        "roll": -0.0012817346723750234,
                        "pitch": -0.04598766192793846,
                        "yaw": -90.09866333007812
                    }
                },
                "velocity": {
                    "x": 6.983167986618355e-05,
                    "y": 1.4591914805350825e-06,
                    "z": -0.0010913211153820157
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2995811700820923,
                "transform": {
                    "location": {
                        "x": -151.4391326904297,
                        "y": 4295.15966796875,
                        "z": 372.99627685546875
                    },
                    "rotation": {
                        "roll": -0.001739501953125,
                        "pitch": 0.22899574041366577,
                        "yaw": 179.6188507080078
                    }
                },
                "velocity": {
                    "x": -1.2995697259902954,
                    "y": 0.00040488998638466,
                    "z": 0.005447254050523043
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.763569355010986,
                "transform": {
                    "location": {
                        "x": -162.81280517578125,
                        "y": 4295.228515625,
                        "z": 373.0410461425781
                    },
                    "rotation": {
                        "roll": -0.000946044921875,
                        "pitch": 0.6863588690757751,
                        "yaw": 179.6414031982422
                    }
                },
                "velocity": {
                    "x": -4.763453960418701,
                    "y": 0.02876378782093525,
                    "z": 0.016494616866111755
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001830841792980209,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 7.720664143562317e-06,
                    "y": 3.1339620818471303e-06,
                    "z": -0.00018289446597918868
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002475008659530431,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 6.819441750849364e-06,
                    "y": -1.2458483070076909e-05,
                    "z": 0.0002470930339768529
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00010597603250062093,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 8.542723662685603e-06,
                    "y": -1.6894833834157907e-06,
                    "z": 0.00010561764793237671
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.755008068168536e-05,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062316894531
                    },
                    "rotation": {
                        "roll": -0.0008544913143850863,
                        "pitch": -0.0722019225358963,
                        "yaw": -89.60335540771484
                    }
                },
                "velocity": {
                    "x": -6.977176326472545e-06,
                    "y": -2.4402793314948212e-06,
                    "z": -9.726963617140427e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7568049430847168,
                "transform": {
                    "location": {
                        "x": -174.47320556640625,
                        "y": 4333.7822265625,
                        "z": 373.1294860839844
                    },
                    "rotation": {
                        "roll": -0.0002441408869344741,
                        "pitch": -0.010832679457962513,
                        "yaw": -90.49069213867188
                    }
                },
                "velocity": {
                    "x": -0.002136558061465621,
                    "y": -1.7568027973175049,
                    "z": -0.0017837429186329246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.40134406089782715,
        "expert_target_speed": 10.0,
        "target_point": [
            17.7266748558817,
            0.810126827061048
        ],
        "target_point_next": [
            28.722741647681467,
            1.1035488659202488
        ]
    },
    "915": {
        "acceleration": [
            -8.374099731445312,
            0.21995455026626587,
            0.017283819615840912
        ],
        "angular_velocity": [
            -0.037790652364492416,
            0.5827521085739136,
            -0.29608312249183655
        ],
        "forward_vector": [
            -0.9994456768035889,
            0.03094198927283287,
            0.01228861790150404
        ],
        "right_vector": [
            -0.030946003273129463,
            -0.9995210766792297,
            -0.00013645115541294217
        ],
        "location": [
            -169.98280334472656,
            4292.4921875,
            373.06597900390625
        ],
        "rotation": [
            0.007818665355443954,
            0.7041036486625671,
            178.22674560546875
        ],
        "velocity": [
            -6.037586688995361,
            0.178557887673378,
            0.021925343200564384
        ],
        "speed": 6.040226481381667,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 51.54038619995117,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.080404945241753e-05,
                9.768798008735757e-06,
                0.0010021644411608577
            ],
            "speed_kmh": 0.0036081730256989656,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000923874496947974,
                "transform": {
                    "location": {
                        "x": -109.18804168701172,
                        "y": 4301.61279296875,
                        "z": 372.8445129394531
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": -0.26846057176589966,
                        "yaw": -0.3461303412914276
                    }
                },
                "velocity": {
                    "x": -0.0004818053566850722,
                    "y": -9.149692778009921e-05,
                    "z": 0.0007829661481082439
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005265687359496951,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": -1.5464573152712546e-05,
                    "y": -4.2401505197631195e-05,
                    "z": -0.000524630886502564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005868582520633936,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": -0.21836113929748535,
                        "yaw": 0.15189924836158752
                    }
                },
                "velocity": {
                    "x": 3.418549795242143e-06,
                    "y": -3.630054197856225e-05,
                    "z": 0.0005857244832441211
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00025398493744432926,
                "transform": {
                    "location": {
                        "x": -174.27101135253906,
                        "y": 4235.265625,
                        "z": 372.89111328125
                    },
                    "rotation": {
                        "roll": -0.0005188056966289878,
                        "pitch": -0.24669958651065826,
                        "yaw": -88.36304473876953
                    }
                },
                "velocity": {
                    "x": 0.00016719430277589709,
                    "y": 0.00015470414655283093,
                    "z": 0.00011234342673560604
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00028015111456625164,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 1.300938401982421e-05,
                    "y": -2.0680021407315508e-05,
                    "z": -0.0002790837606880814
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00038049116847105324,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 1.7926506188814528e-05,
                    "y": 8.381085535802413e-06,
                    "z": -0.0003799762052949518
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.271878373809159e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 7.506422662117984e-06,
                    "y": -1.5021941468518207e-09,
                    "z": 6.226796540431678e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005589763750322163,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59765625,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 0.00024101775488816202,
                        "pitch": 0.22317641973495483,
                        "yaw": 179.86575317382812
                    }
                },
                "velocity": {
                    "x": 2.9975361030665226e-05,
                    "y": -3.968864621128887e-05,
                    "z": 0.0005567592452280223
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.600641113938764e-05,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": 0.22678959369659424,
                        "yaw": 179.44540405273438
                    }
                },
                "velocity": {
                    "x": 6.302259862422943e-06,
                    "y": -1.8169168470194563e-05,
                    "z": 4.179417010163888e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010022702626883984,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.080404945241753e-05,
                    "y": 9.768798008735757e-06,
                    "z": 0.0010021644411608577
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00033357186475768685,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0003141055058222264,
                        "pitch": 0.22159181535243988,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": 9.075365596800111e-06,
                    "y": -1.7696022041491233e-05,
                    "z": -0.00033297849586233497
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006877159466966987,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 6.514303095173091e-06,
                    "y": -3.0058063202886842e-05,
                    "z": 0.0006870278739370406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00018774488125927746,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": -2.3012607925920747e-06,
                    "y": -3.0174827770679258e-05,
                    "z": 0.00018528984219301492
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.788926526089199e-05,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 5.204379249335034e-06,
                    "y": -3.513589035719633e-06,
                    "z": 4.747579077957198e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4878229796886444,
                "transform": {
                    "location": {
                        "x": -174.48367309570312,
                        "y": 4323.80908203125,
                        "z": 373.11578369140625
                    },
                    "rotation": {
                        "roll": -6.103482155594975e-05,
                        "pitch": -0.034663207828998566,
                        "yaw": -90.07389831542969
                    }
                },
                "velocity": {
                    "x": -0.0006005424074828625,
                    "y": -0.4878202974796295,
                    "z": 0.0015046881744638085
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.538665533065796,
                "transform": {
                    "location": {
                        "x": -151.9160919189453,
                        "y": 4295.16259765625,
                        "z": 372.99761962890625
                    },
                    "rotation": {
                        "roll": 0.0002579990541562438,
                        "pitch": 0.27384957671165466,
                        "yaw": 179.66773986816406
                    }
                },
                "velocity": {
                    "x": -2.538595199584961,
                    "y": 0.016950594261288643,
                    "z": 0.008376865647733212
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.172294616699219,
                "transform": {
                    "location": {
                        "x": -163.90084838867188,
                        "y": 4295.2353515625,
                        "z": 373.0466613769531
                    },
                    "rotation": {
                        "roll": -0.0016479486366733909,
                        "pitch": 0.21507582068443298,
                        "yaw": 179.6463165283203
                    }
                },
                "velocity": {
                    "x": -4.172199249267578,
                    "y": 0.02439333125948906,
                    "z": 0.014204329811036587
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.457110142335296e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 8.684880413056817e-06,
                    "y": 5.348112608771771e-06,
                    "z": 3.303228004369885e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00017634237883612514,
                "transform": {
                    "location": {
                        "x": -141.5778045654297,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": 9.647823753766716e-05,
                        "pitch": 0.21434497833251953,
                        "yaw": 179.52847290039062
                    }
                },
                "velocity": {
                    "x": 1.1866018212458584e-05,
                    "y": 6.251837930904003e-06,
                    "z": 0.00017583159205969423
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001288833882426843,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 2.9252096283016726e-06,
                    "y": 1.5066562809806783e-05,
                    "z": 0.00012796628288924694
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000516856147442013,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062316894531
                    },
                    "rotation": {
                        "roll": -0.0008544913143850863,
                        "pitch": -0.0722019225358963,
                        "yaw": -89.60335540771484
                    }
                },
                "velocity": {
                    "x": 1.864923888206249e-06,
                    "y": -2.01498164642544e-06,
                    "z": -0.0005168488714843988
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0016220157267525792,
                "transform": {
                    "location": {
                        "x": -174.47320556640625,
                        "y": 4333.7158203125,
                        "z": 373.1285095214844
                    },
                    "rotation": {
                        "roll": -0.0015258826315402985,
                        "pitch": 0.10431064665317535,
                        "yaw": -90.4911117553711
                    }
                },
                "velocity": {
                    "x": 0.00010285859752912074,
                    "y": 0.0008065956644713879,
                    "z": -0.0014034808846190572
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4318927824497223,
        "expert_target_speed": 10.0,
        "target_point": [
            16.325952311282784,
            0.7799805182669071
        ],
        "target_point_next": [
            27.322495719313736,
            1.0549613501461343
        ]
    },
    "920": {
        "acceleration": [
            -6.573486328125,
            0.1573026180267334,
            0.05217723548412323
        ],
        "angular_velocity": [
            -0.052027761936187744,
            0.2694718837738037,
            2.252810001373291
        ],
        "forward_vector": [
            -0.9994492530822754,
            0.028254246339201927,
            0.01740308105945587
        ],
        "right_vector": [
            -0.028266314417123795,
            -0.9996002912521362,
            -0.00044785073259845376
        ],
        "location": [
            -171.79547119140625,
            4292.54345703125,
            373.0712890625
        ],
        "rotation": [
            0.025663845241069794,
            0.9971734285354614,
            178.3806915283203
        ],
        "velocity": [
            -8.158101081848145,
            0.22277460992336273,
            0.030282115563750267
        ],
        "speed": 8.161142186512766,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 49.727806091308594,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2764632629114203e-05,
                -1.7367719920002855e-05,
                0.0006200220668688416
            ],
            "speed_kmh": 0.002233427747391013,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00117626937571913,
                "transform": {
                    "location": {
                        "x": -109.18781280517578,
                        "y": 4301.61279296875,
                        "z": 372.8445129394531
                    },
                    "rotation": {
                        "roll": 0.0005970658385194838,
                        "pitch": -0.24258098006248474,
                        "yaw": -0.3461608588695526
                    }
                },
                "velocity": {
                    "x": -0.00017574931553099304,
                    "y": 8.408962457906455e-05,
                    "z": 0.0011600218713283539
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005170533549971879,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": -4.48532409791369e-05,
                    "y": 3.426887587920646e-06,
                    "z": -0.0005150928045623004
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000304942688671872,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0018005369929596782,
                        "pitch": -0.21838845312595367,
                        "yaw": 0.15187183022499084
                    }
                },
                "velocity": {
                    "x": 6.643980668741278e-06,
                    "y": -1.924135722219944e-05,
                    "z": 0.0003042625030502677
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00019275657541584224,
                "transform": {
                    "location": {
                        "x": -174.27101135253906,
                        "y": 4235.26513671875,
                        "z": 372.89111328125
                    },
                    "rotation": {
                        "roll": -0.00027465069433674216,
                        "pitch": -0.23889268934726715,
                        "yaw": -88.36304473876953
                    }
                },
                "velocity": {
                    "x": -6.0973994550295174e-05,
                    "y": 5.395672997110523e-05,
                    "z": 0.0001747167407302186
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004220164264552295,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 6.459206360887038e-06,
                    "y": 1.901488212752156e-05,
                    "z": -0.00042153833783231676
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2988602065888699e-05,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 5.550272817345103e-06,
                    "y": -1.1838448443768357e-07,
                    "z": 1.1742411516024731e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002989431959576905,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.861127985757776e-06,
                    "y": 5.559413551736725e-08,
                    "z": 0.00029886444099247456
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5397909010061994e-05,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59765625,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 0.0003524714848026633,
                        "pitch": 0.22331301867961884,
                        "yaw": 179.8657989501953
                    }
                },
                "velocity": {
                    "x": 9.0606881713029e-06,
                    "y": 3.4909380701719783e-06,
                    "z": 1.1950435691687744e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005422484246082604,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": 0.22678959369659424,
                        "yaw": 179.44540405273438
                    }
                },
                "velocity": {
                    "x": 6.160400516819209e-06,
                    "y": 7.07210256223334e-06,
                    "z": 0.000542167283128947
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006203965749591589,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2764632629114203e-05,
                    "y": -1.7367719920002855e-05,
                    "z": 0.0006200220668688416
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010058487532660365,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0003141055058222264,
                        "pitch": 0.22159181535243988,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": 5.294345100992359e-06,
                    "y": -1.8224324094262556e-07,
                    "z": -0.0010058347834274173
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00010017113527283072,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 1.8304473996977322e-05,
                    "y": -3.968109376728535e-05,
                    "z": -9.013663657242432e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00016855016292538494,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 9.585804946254939e-06,
                    "y": 9.905072147375904e-06,
                    "z": 0.00016798559227027
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003561967168934643,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 6.948858299438143e-06,
                    "y": 1.1002365681633819e-05,
                    "z": -0.0003559589385986328
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2542778253555298,
                "transform": {
                    "location": {
                        "x": -174.48312377929688,
                        "y": 4323.59375,
                        "z": 373.11572265625
                    },
                    "rotation": {
                        "roll": 3.894508699886501e-05,
                        "pitch": -0.026610415428876877,
                        "yaw": -90.13467407226562
                    }
                },
                "velocity": {
                    "x": -0.003684115130454302,
                    "y": -1.2542721033096313,
                    "z": -0.0009351348853670061
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.825148105621338,
                "transform": {
                    "location": {
                        "x": -152.72836303710938,
                        "y": 4295.16943359375,
                        "z": 373.00042724609375
                    },
                    "rotation": {
                        "roll": 0.00043749233009293675,
                        "pitch": 0.28707966208457947,
                        "yaw": 179.78843688964844
                    }
                },
                "velocity": {
                    "x": -3.8250606060028076,
                    "y": 0.0216064415872097,
                    "z": 0.014245261438190937
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.188365459442139,
                "transform": {
                    "location": {
                        "x": -164.9755401611328,
                        "y": 4295.2412109375,
                        "z": 373.05035400390625
                    },
                    "rotation": {
                        "roll": -0.00012207034160383046,
                        "pitch": 0.20501494407653809,
                        "yaw": 179.64889526367188
                    }
                },
                "velocity": {
                    "x": -4.1882643699646,
                    "y": 0.02554689347743988,
                    "z": 0.013870039023458958
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.5607652282342315e-05,
                "transform": {
                    "location": {
                        "x": -131.36038208007812,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.003886605380102992,
                        "pitch": 0.22548502683639526,
                        "yaw": -179.50022888183594
                    }
                },
                "velocity": {
                    "x": 9.77199488261249e-06,
                    "y": 9.014634088089224e-07,
                    "z": 4.4539345253724605e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.08912905305624008,
                "transform": {
                    "location": {
                        "x": -141.5829620361328,
                        "y": 4295.10009765625,
                        "z": 372.9635009765625
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": 0.21763713657855988,
                        "yaw": 179.5396270751953
                    }
                },
                "velocity": {
                    "x": -0.08912060409784317,
                    "y": 0.0008476459188386798,
                    "z": 0.0008876418578438461
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00011869984882650897,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062316894531
                    },
                    "rotation": {
                        "roll": -0.0008544913143850863,
                        "pitch": -0.0722019225358963,
                        "yaw": -89.60335540771484
                    }
                },
                "velocity": {
                    "x": -6.285978088271804e-06,
                    "y": -3.6780350001208717e-06,
                    "z": -0.00011847621499327943
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002099642442772165,
                "transform": {
                    "location": {
                        "x": -174.47320556640625,
                        "y": 4333.71630859375,
                        "z": 373.12933349609375
                    },
                    "rotation": {
                        "roll": 0.0003134360013063997,
                        "pitch": 0.0037839245051145554,
                        "yaw": -90.4911117553711
                    }
                },
                "velocity": {
                    "x": -0.00011611991067184135,
                    "y": 3.80154415324796e-05,
                    "z": 0.00017075121286325157
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.36473920941352844,
        "expert_target_speed": 8.692588121112584,
        "target_point": [
            14.514596407635448,
            0.7361363194142317
        ],
        "target_point_next": [
            25.51183898539509,
            0.9815687307221419
        ]
    },
    "925": {
        "acceleration": [
            -3.7531661987304688,
            0.06839931011199951,
            0.006796121597290039
        ],
        "angular_velocity": [
            0.07334022223949432,
            -0.6060593724250793,
            -0.0676783099770546
        ],
        "forward_vector": [
            -0.9995262026786804,
            0.027068274095654488,
            0.014651847071945667
        ],
        "right_vector": [
            -0.02708464488387108,
            -0.999632716178894,
            -0.0009200263302773237
        ],
        "location": [
            -174.01412963867188,
            4292.60400390625,
            373.08038330078125
        ],
        "rotation": [
            0.05271929129958153,
            0.8395190238952637,
            178.44874572753906
        ],
        "velocity": [
            -9.283668518066406,
            0.2478746920824051,
            0.03532128408551216
        ],
        "speed": 9.286977065564027,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 47.50932693481445,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1840201295854058e-05,
                4.456249371287413e-06,
                0.0011921655386686325
            ],
            "speed_kmh": 0.004292037582859773,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013913993025198579,
                "transform": {
                    "location": {
                        "x": -109.18772888183594,
                        "y": 4301.61279296875,
                        "z": 372.8445129394531
                    },
                    "rotation": {
                        "roll": 0.0006312396144494414,
                        "pitch": -0.23501314222812653,
                        "yaw": -0.3461608588695526
                    }
                },
                "velocity": {
                    "x": -8.806541154626757e-05,
                    "y": 1.094274352908542e-06,
                    "z": 0.0013886091765016317
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006776489899493754,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": -5.567036623688182e-06,
                    "y": -6.49258254270535e-07,
                    "z": -0.0006776258233003318
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1892564543813933e-05,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0018005369929596782,
                        "pitch": -0.21838845312595367,
                        "yaw": 0.15187183022499084
                    }
                },
                "velocity": {
                    "x": 8.582845111959614e-06,
                    "y": -5.919395334785804e-06,
                    "z": 5.720892204408301e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00011060594260925427,
                "transform": {
                    "location": {
                        "x": -174.27101135253906,
                        "y": 4235.26513671875,
                        "z": 372.8910827636719
                    },
                    "rotation": {
                        "roll": 0.0003132041892968118,
                        "pitch": -0.23711682856082916,
                        "yaw": -88.3630599975586
                    }
                },
                "velocity": {
                    "x": -4.139955126447603e-05,
                    "y": 2.339966613362776e-06,
                    "z": -0.00010253914661007002
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00023518411035183817,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 1.1024474588339217e-05,
                    "y": -2.2011636247043498e-05,
                    "z": -0.0002338921040063724
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00013927857798989862,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": -5.216151294007432e-06,
                    "y": 6.004337592457887e-06,
                    "z": -0.00013905129162594676
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006731093162670732,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 5.281642188492697e-06,
                    "y": -1.1502786037453916e-05,
                    "z": 0.0006729902816005051
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007142105605453253,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59765625,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 0.0003524714848026633,
                        "pitch": 0.22331301867961884,
                        "yaw": 179.8657989501953
                    }
                },
                "velocity": {
                    "x": 2.3622065725703578e-07,
                    "y": -6.697436219837982e-06,
                    "z": 0.000714179128408432
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005841412348672748,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": 0.22678959369659424,
                        "yaw": 179.44540405273438
                    }
                },
                "velocity": {
                    "x": 6.945319455553545e-06,
                    "y": -1.0479724551260006e-05,
                    "z": 0.000584005902055651
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011922325938940048,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1840201295854058e-05,
                    "y": 4.456249371287413e-06,
                    "z": 0.0011921655386686325
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008989102207124233,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0003141055058222264,
                        "pitch": 0.22159181535243988,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": 2.979449845952331e-06,
                    "y": 6.4666805883462075e-06,
                    "z": -0.0008988819899968803
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.872041583643295e-05,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 2.6429630452184938e-05,
                    "y": 6.336716523946961e-06,
                    "z": 5.205197157920338e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.879714495269582e-05,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.5565379726467654e-05,
                    "y": -1.9852937839459628e-05,
                    "z": 2.947538268927019e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00022208731388673186,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 1.196268931380473e-05,
                    "y": 1.0013199243985582e-05,
                    "z": 0.00022153872123453766
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9305671453475952,
                "transform": {
                    "location": {
                        "x": -174.4833526611328,
                        "y": 4323.18603515625,
                        "z": 373.1153869628906
                    },
                    "rotation": {
                        "roll": -0.0003967279626522213,
                        "pitch": -0.025148754939436913,
                        "yaw": -90.13119506835938
                    }
                },
                "velocity": {
                    "x": -0.0030064950697124004,
                    "y": -1.93056321144104,
                    "z": -0.0024991987738758326
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.109823226928711,
                "transform": {
                    "location": {
                        "x": -153.83648681640625,
                        "y": 4295.1767578125,
                        "z": 373.0043029785156
                    },
                    "rotation": {
                        "roll": 0.0005554752424359322,
                        "pitch": 0.30069905519485474,
                        "yaw": 179.8677215576172
                    }
                },
                "velocity": {
                    "x": -5.109699726104736,
                    "y": 0.03030174970626831,
                    "z": 0.018553180620074272
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.111149787902832,
                "transform": {
                    "location": {
                        "x": -165.98374938964844,
                        "y": 4295.24658203125,
                        "z": 373.0539855957031
                    },
                    "rotation": {
                        "roll": -0.00012207029067212716,
                        "pitch": 0.15430079400539398,
                        "yaw": 179.6509246826172
                    }
                },
                "velocity": {
                    "x": -4.111048221588135,
                    "y": 0.025056086480617523,
                    "z": 0.0144936079159379
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.002135972725227475,
                "transform": {
                    "location": {
                        "x": -131.35960388183594,
                        "y": 4295.052734375,
                        "z": 372.9353942871094
                    },
                    "rotation": {
                        "roll": 0.004001294262707233,
                        "pitch": 0.2247200459241867,
                        "yaw": -179.49945068359375
                    }
                },
                "velocity": {
                    "x": 0.002070574089884758,
                    "y": 0.000516045605763793,
                    "z": 9.380340634379536e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5632683634757996,
                "transform": {
                    "location": {
                        "x": -141.66070556640625,
                        "y": 4295.10009765625,
                        "z": 372.9637451171875
                    },
                    "rotation": {
                        "roll": -0.001068115234375,
                        "pitch": 0.22869521379470825,
                        "yaw": 179.51437377929688
                    }
                },
                "velocity": {
                    "x": -0.5632568597793579,
                    "y": 0.0031593553721904755,
                    "z": 0.0017293357523158193
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001908962003653869,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 5.88547436564113e-06,
                    "y": 2.987087646033615e-05,
                    "z": 0.00018845278827939183
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.2827280190540478e-05,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062316894531
                    },
                    "rotation": {
                        "roll": -0.0008544913143850863,
                        "pitch": -0.0722019225358963,
                        "yaw": -89.60335540771484
                    }
                },
                "velocity": {
                    "x": -8.11571953818202e-06,
                    "y": -2.29386614591931e-06,
                    "z": -2.121221405104734e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000284045614534989,
                "transform": {
                    "location": {
                        "x": -174.47320556640625,
                        "y": 4333.71630859375,
                        "z": 373.12945556640625
                    },
                    "rotation": {
                        "roll": 2.718485120567493e-06,
                        "pitch": -0.008544566109776497,
                        "yaw": -90.4911117553711
                    }
                },
                "velocity": {
                    "x": -0.00017629950889386237,
                    "y": 3.700900197145529e-05,
                    "z": 0.0002196149725932628
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3654559254646301,
        "expert_target_speed": 9.474630074848966,
        "target_point": [
            12.29597614906811,
            0.7193586904189526
        ],
        "target_point_next": [
            23.293502493861098,
            0.9517283919595771
        ]
    },
    "930": {
        "acceleration": [
            -6.416435241699219,
            0.11577725410461426,
            0.09628042578697205
        ],
        "angular_velocity": [
            -0.01587359979748726,
            -0.0619310699403286,
            0.16377608478069305
        ],
        "forward_vector": [
            -0.9995328783988953,
            0.026142213493585587,
            0.01583128608763218
        ],
        "right_vector": [
            -0.026141483336687088,
            -0.9996582269668579,
            0.0002529685734771192
        ],
        "location": [
            -176.6317901611328,
            4292.6728515625,
            373.08740234375
        ],
        "rotation": [
            -0.014495848678052425,
            0.9071037173271179,
            178.50180053710938
        ],
        "velocity": [
            -11.338332176208496,
            0.2958418130874634,
            0.03964069113135338
        ],
        "speed": 11.342191098567143,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.9339452238684034,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 15.543646812438965,
        "front_vehicle_info": {
            "id": 3926,
            "type": "vehicle.lincoln.mkz_2017",
            "location": [
                -190.904052734375,
                4298.8291015625,
                373.1771545410156
            ],
            "velocity": [
                1.6441196066807606e-06,
                2.972173024318181e-05,
                2.534015266064671e-06
            ],
            "speed_kmh": 0.000107549396662299,
            "color": "16,16,16"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012462327722460032,
                "transform": {
                    "location": {
                        "x": -109.18772888183594,
                        "y": 4301.61279296875,
                        "z": 372.8445129394531
                    },
                    "rotation": {
                        "roll": 0.0006312396144494414,
                        "pitch": -0.23501314222812653,
                        "yaw": -0.3461608588695526
                    }
                },
                "velocity": {
                    "x": -4.299506599636516e-06,
                    "y": -9.048794890986755e-05,
                    "z": 0.0012429358903318644
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00037628095014952123,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 1.0789222869789228e-05,
                    "y": -4.345876902789314e-07,
                    "z": 0.0003761259722523391
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00045945204328745604,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0018005369929596782,
                        "pitch": -0.21838845312595367,
                        "yaw": 0.15187183022499084
                    }
                },
                "velocity": {
                    "x": 2.5488436676823767e-06,
                    "y": -4.2176081478828564e-05,
                    "z": 0.000457505026133731
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00017556567036081105,
                "transform": {
                    "location": {
                        "x": -174.27101135253906,
                        "y": 4235.26513671875,
                        "z": 372.8910827636719
                    },
                    "rotation": {
                        "roll": 0.0003132041892968118,
                        "pitch": -0.23711682856082916,
                        "yaw": -88.3630599975586
                    }
                },
                "velocity": {
                    "x": -6.809149635955691e-05,
                    "y": 1.4193728020472918e-05,
                    "z": 0.00016119984502438456
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00016406559734605253,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 9.408555342815816e-06,
                    "y": 8.621397682873067e-06,
                    "z": -0.0001635685475775972
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.987483276228886e-05,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 1.6441196066807606e-06,
                    "y": 2.972173024318181e-05,
                    "z": 2.534015266064671e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00039724650559946895,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 7.157921572797932e-06,
                    "y": -1.3863585081708152e-05,
                    "z": 0.0003969399840570986
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000253197766141966,
                "transform": {
                    "location": {
                        "x": -226.06210327148438,
                        "y": 4295.59716796875,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": -0.00024414058134425431,
                        "pitch": 0.2238321155309677,
                        "yaw": 179.86582946777344
                    }
                },
                "velocity": {
                    "x": -1.2993439213460078e-06,
                    "y": -2.602061977086123e-05,
                    "z": 0.00025185380945913494
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00030074777896516025,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": 0.22678959369659424,
                        "yaw": 179.44540405273438
                    }
                },
                "velocity": {
                    "x": 1.6219504686887376e-05,
                    "y": 1.2559656170196831e-05,
                    "z": 0.00030004733707755804
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010598328663036227,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.6180389138753526e-05,
                    "y": 5.621701802738244e-06,
                    "z": 0.0010596944484859705
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00011710157559718937,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0003141055058222264,
                        "pitch": 0.22159181535243988,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": 6.789341568946838e-06,
                    "y": 7.598757292726077e-06,
                    "z": -0.00011665737110888585
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004253133083693683,
                "transform": {
                    "location": {
                        "x": -235.9568634033203,
                        "y": 4295.66943359375,
                        "z": 373.3464050292969
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.7680206298828
                    }
                },
                "velocity": {
                    "x": 1.7838290659710765e-05,
                    "y": 2.920663609984331e-05,
                    "z": 0.0004239341651555151
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002347335685044527,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": -6.036460149516643e-07,
                    "y": -2.929875518020708e-05,
                    "z": -0.0002328971168026328
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.9130911318352446e-05,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 7.433854079863522e-06,
                    "y": 7.5451366683410015e-06,
                    "z": 3.767010639421642e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012449112255126238,
                "transform": {
                    "location": {
                        "x": -174.4833526611328,
                        "y": 4322.9638671875,
                        "z": 373.11572265625
                    },
                    "rotation": {
                        "roll": -6.103152918512933e-05,
                        "pitch": -0.07959219068288803,
                        "yaw": -90.19078826904297
                    }
                },
                "velocity": {
                    "x": 1.5797266314621083e-05,
                    "y": 1.2307334145589266e-05,
                    "z": -0.0012447502231225371
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.2629470825195312,
                "transform": {
                    "location": {
                        "x": -154.89195251464844,
                        "y": 4295.18115234375,
                        "z": 373.0096740722656
                    },
                    "rotation": {
                        "roll": 0.0011440236121416092,
                        "pitch": 0.08518611639738083,
                        "yaw": 179.4486541748047
                    }
                },
                "velocity": {
                    "x": -2.262852907180786,
                    "y": 0.019024541601538658,
                    "z": 0.008014154620468616
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.921316146850586,
                "transform": {
                    "location": {
                        "x": -167.09703063964844,
                        "y": 4295.25341796875,
                        "z": 373.05706787109375
                    },
                    "rotation": {
                        "roll": -0.0013427729718387127,
                        "pitch": 0.39495566487312317,
                        "yaw": 179.653076171875
                    }
                },
                "velocity": {
                    "x": -4.921191215515137,
                    "y": 0.028786739334464073,
                    "z": 0.02003488503396511
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.008369216695427895,
                "transform": {
                    "location": {
                        "x": -131.35789489746094,
                        "y": 4295.052734375,
                        "z": 372.9353332519531
                    },
                    "rotation": {
                        "roll": 0.0035618601832538843,
                        "pitch": 0.22624316811561584,
                        "yaw": -179.4986114501953
                    }
                },
                "velocity": {
                    "x": 0.008343657478690147,
                    "y": -0.0006041372544132173,
                    "z": -0.00024936674162745476
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0851545333862305,
                "transform": {
                    "location": {
                        "x": -141.8632049560547,
                        "y": 4295.1015625,
                        "z": 372.9645080566406
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": 0.23329876363277435,
                        "yaw": 179.52577209472656
                    }
                },
                "velocity": {
                    "x": -1.0851253271102905,
                    "y": 0.007427013944834471,
                    "z": 0.0028420828748494387
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.655017619370483e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 6.516501343867276e-06,
                    "y": 9.855529242486227e-06,
                    "z": 4.502579758991487e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00014452119648922235,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062316894531
                    },
                    "rotation": {
                        "roll": -0.0008544913143850863,
                        "pitch": -0.0722019225358963,
                        "yaw": -89.60335540771484
                    }
                },
                "velocity": {
                    "x": -1.621871206225478e-06,
                    "y": -1.3186596561354236e-06,
                    "z": -0.00014450607704930007
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4766238331794739,
                "transform": {
                    "location": {
                        "x": -174.47320556640625,
                        "y": 4333.66552734375,
                        "z": 373.1297607421875
                    },
                    "rotation": {
                        "roll": 0.0010766206542029977,
                        "pitch": -0.04974426329135895,
                        "yaw": -90.48664093017578
                    }
                },
                "velocity": {
                    "x": 0.0012505470076575875,
                    "y": -0.476622074842453,
                    "z": -0.0003509330563247204
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3408973217010498,
        "expert_target_speed": 10.0,
        "target_point": [
            9.678071289679863,
            0.7083566200643148
        ],
        "target_point_next": [
            20.675808097674903,
            0.93054231870599
        ]
    },
    "935": {
        "acceleration": [
            -5.531101226806641,
            0.07363736629486084,
            0.07044054567813873
        ],
        "angular_velocity": [
            0.1356663852930069,
            -0.32927602529525757,
            0.2128419429063797
        ],
        "forward_vector": [
            -0.9995486736297607,
            0.025322770699858665,
            0.016163358464837074
        ],
        "right_vector": [
            -0.02531275525689125,
            -0.9996792674064636,
            0.0008238743175752461
        ],
        "location": [
            -179.65647888183594,
            4292.75048828125,
            373.0964050292969
        ],
        "rotation": [
            -0.0472106970846653,
            0.9261326193809509,
            178.54876708984375
        ],
        "velocity": [
            -12.772226333618164,
            0.3222338855266571,
            0.04203658178448677
        ],
        "speed": 12.77629054906591,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 41.867881774902344,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0929442396445666e-05,
                -1.695570631454757e-06,
                0.0002772500447463244
            ],
            "speed_kmh": 0.0009988940375113982,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -109.18772888183594,
                        "y": 4301.61279296875,
                        "z": 372.8445129394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.3386535048484802
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005538903060369194,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": 1.4239176380215213e-06,
                    "y": 3.046698657271918e-05,
                    "z": 0.0005530499038286507
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00012226609396748245,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0018005369929596782,
                        "pitch": -0.21838845312595367,
                        "yaw": 0.15187183022499084
                    }
                },
                "velocity": {
                    "x": 7.972270395839587e-06,
                    "y": -4.260920150045422e-07,
                    "z": 0.00012200515629956499
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00026559497928246856,
                "transform": {
                    "location": {
                        "x": -174.27101135253906,
                        "y": 4235.26513671875,
                        "z": 372.8910827636719
                    },
                    "rotation": {
                        "roll": 0.0003132041892968118,
                        "pitch": -0.23711682856082916,
                        "yaw": -88.3630599975586
                    }
                },
                "velocity": {
                    "x": -2.846805000444874e-05,
                    "y": 1.5569961760775186e-05,
                    "z": -0.0002636054705362767
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.576282951049507e-05,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 1.3459473393595545e-06,
                    "y": 3.0109215003903955e-05,
                    "z": 6.950992974452674e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00048433931078761816,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": -3.406032931252412e-07,
                    "y": 1.3017735227549565e-06,
                    "z": 0.00048433744814246893
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000589708739425987,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 6.956048309803009e-06,
                    "y": 1.0485449820407666e-05,
                    "z": 0.0005895744543522596
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013168314471840858,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59716796875,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": 0.2237979620695114,
                        "yaw": 179.86582946777344
                    }
                },
                "velocity": {
                    "x": -2.168431819882244e-05,
                    "y": 3.978742824983783e-05,
                    "z": 0.0013160515809431672
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.266128235030919e-05,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": 0.22678959369659424,
                        "yaw": 179.44540405273438
                    }
                },
                "velocity": {
                    "x": -1.2947618870384758e-06,
                    "y": 1.2516772585513536e-05,
                    "z": 4.076320692547597e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002774705644696951,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0929442396445666e-05,
                    "y": -1.695570631454757e-06,
                    "z": 0.0002772500447463244
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6158928871154785,
                "transform": {
                    "location": {
                        "x": -231.57069396972656,
                        "y": 4292.48486328125,
                        "z": 373.2900390625
                    },
                    "rotation": {
                        "roll": 0.0005111474893055856,
                        "pitch": 0.2340637445449829,
                        "yaw": 179.656005859375
                    }
                },
                "velocity": {
                    "x": -0.6158713102340698,
                    "y": -0.004474759101867676,
                    "z": 0.0025629233568906784
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.19560296833515167,
                "transform": {
                    "location": {
                        "x": -235.97531127929688,
                        "y": 4295.66943359375,
                        "z": 373.3463134765625
                    },
                    "rotation": {
                        "roll": 0.00016159415827132761,
                        "pitch": 0.2346784621477127,
                        "yaw": 179.74681091308594
                    }
                },
                "velocity": {
                    "x": -0.19558747112751007,
                    "y": -0.0016482063801959157,
                    "z": 0.0018297862261533737
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00027597497683018446,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": 1.5064105355122592e-05,
                    "y": -1.0217741873930208e-05,
                    "z": -0.0002753740409389138
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00044477294431999326,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 1.5425794117618352e-05,
                    "y": 2.0109564502490684e-05,
                    "z": 0.0004440502671059221
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013737148838117719,
                "transform": {
                    "location": {
                        "x": -174.4833526611328,
                        "y": 4322.9638671875,
                        "z": 373.11541748046875
                    },
                    "rotation": {
                        "roll": -0.00012207466352265328,
                        "pitch": -0.0507824532687664,
                        "yaw": -90.19078826904297
                    }
                },
                "velocity": {
                    "x": 1.7093502719944809e-06,
                    "y": 1.6978488929453306e-05,
                    "z": -0.0013736089458689094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.7920815944671631,
                "transform": {
                    "location": {
                        "x": -155.03460693359375,
                        "y": 4295.1826171875,
                        "z": 373.0097961425781
                    },
                    "rotation": {
                        "roll": 0.00017205881886184216,
                        "pitch": 0.09735751152038574,
                        "yaw": 179.45191955566406
                    }
                },
                "velocity": {
                    "x": -0.7920604348182678,
                    "y": 0.005195737350732088,
                    "z": 0.0025527477264404297
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.318215370178223,
                "transform": {
                    "location": {
                        "x": -168.41163635253906,
                        "y": 4295.26171875,
                        "z": 373.06280517578125
                    },
                    "rotation": {
                        "roll": 0.034126318991184235,
                        "pitch": 0.46618086099624634,
                        "yaw": 179.65403747558594
                    }
                },
                "velocity": {
                    "x": -5.318082809448242,
                    "y": 0.03022954799234867,
                    "z": 0.022257795557379723
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.44521844387054443,
                "transform": {
                    "location": {
                        "x": -131.39686584472656,
                        "y": 4295.05224609375,
                        "z": 372.93487548828125
                    },
                    "rotation": {
                        "roll": 0.006597153376787901,
                        "pitch": 0.29705172777175903,
                        "yaw": -179.53546142578125
                    }
                },
                "velocity": {
                    "x": -0.44520440697669983,
                    "y": 0.002502521499991417,
                    "z": 0.002499971305951476
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.615264892578125,
                "transform": {
                    "location": {
                        "x": -142.2021026611328,
                        "y": 4295.103515625,
                        "z": 372.9656982421875
                    },
                    "rotation": {
                        "roll": -0.001770018832758069,
                        "pitch": 0.23322363197803497,
                        "yaw": 179.5215606689453
                    }
                },
                "velocity": {
                    "x": -1.6152218580245972,
                    "y": 0.010124405845999718,
                    "z": 0.006049137096852064
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.108095552306622e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 3.2763928174972534e-06,
                    "y": -1.0662188287824392e-05,
                    "z": 2.901049447245896e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1912364900344983e-05,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062316894531
                    },
                    "rotation": {
                        "roll": -0.0008544913143850863,
                        "pitch": -0.0722019225358963,
                        "yaw": -89.60335540771484
                    }
                },
                "velocity": {
                    "x": -1.0070251619254122e-06,
                    "y": -2.3096706627256935e-06,
                    "z": -2.1767016733065248e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3916593790054321,
                "transform": {
                    "location": {
                        "x": -174.4734344482422,
                        "y": 4333.41552734375,
                        "z": 373.13006591796875
                    },
                    "rotation": {
                        "roll": 0.0004203172866255045,
                        "pitch": -0.0937580019235611,
                        "yaw": -90.45474243164062
                    }
                },
                "velocity": {
                    "x": -0.0017661277670413256,
                    "y": -1.3916571140289307,
                    "z": -0.001775455428287387
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3479243218898773,
        "expert_target_speed": 10.0,
        "target_point": [
            17.650879136146465,
            0.9146032018095391
        ],
        "target_point_next": [
            17.650879136146465,
            0.9146032018095391
        ]
    },
    "940": {
        "acceleration": [
            -0.8812141418457031,
            -0.0364154577255249,
            -0.036073848605155945
        ],
        "angular_velocity": [
            0.12241100519895554,
            -1.579625129699707,
            0.21204893290996552
        ],
        "forward_vector": [
            -0.9996184706687927,
            0.024367541074752808,
            0.013003101572394371
        ],
        "right_vector": [
            -0.024365846067667007,
            -0.999703049659729,
            0.0002886622096411884
        ],
        "location": [
            -182.99249267578125,
            4292.83349609375,
            373.10888671875
        ],
        "rotation": [
            -0.0165405236184597,
            0.7450438141822815,
            178.6035919189453
        ],
        "velocity": [
            -13.581387519836426,
            0.3293527066707611,
            0.0480022132396698
        ],
        "speed": 13.585380383683042,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 38.532745361328125,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1813677701866254e-05,
                -4.140693818044383e-06,
                0.00078586331801489
            ],
            "speed_kmh": 0.0028294668585336948,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -109.18772888183594,
                        "y": 4301.61279296875,
                        "z": 372.8445129394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.3386535048484802
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001367507502436638,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": -7.504597192564688e-07,
                    "y": 6.202846270753071e-05,
                    "z": 0.00012187154788989574
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005891839973628521,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0018005369929596782,
                        "pitch": -0.21838845312595367,
                        "yaw": 0.15187183022499084
                    }
                },
                "velocity": {
                    "x": 2.665445038019243e-07,
                    "y": -4.933756645186804e-05,
                    "z": 0.0005871145403943956
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002671072434168309,
                "transform": {
                    "location": {
                        "x": -174.27101135253906,
                        "y": 4235.26513671875,
                        "z": 372.8910827636719
                    },
                    "rotation": {
                        "roll": 0.0003132041892968118,
                        "pitch": -0.23711682856082916,
                        "yaw": -88.3630599975586
                    }
                },
                "velocity": {
                    "x": -1.160739702754654e-05,
                    "y": -2.5255606033169897e-06,
                    "z": 0.00026684298063628376
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003546246443875134,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 1.1413692845962942e-05,
                    "y": -3.839907731162384e-05,
                    "z": 0.00035235474933870137
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005084327422082424,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 2.106774627463892e-05,
                    "y": -4.889387491857633e-05,
                    "z": 0.0005056376103311777
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.613264460815117e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 7.0644541665387806e-06,
                    "y": -1.3980544508740422e-06,
                    "z": 7.579127850476652e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007892713183537126,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59765625,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 0.0008714377181604505,
                        "pitch": 0.2237706482410431,
                        "yaw": 179.86582946777344
                    }
                },
                "velocity": {
                    "x": 6.918534381838981e-06,
                    "y": -6.632047734456137e-05,
                    "z": 0.0007864495855756104
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.296659896383062e-05,
                "transform": {
                    "location": {
                        "x": -121.85952758789062,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -0.0002746583195403218,
                        "pitch": 0.22698083519935608,
                        "yaw": 179.44558715820312
                    }
                },
                "velocity": {
                    "x": 1.1481679393909872e-05,
                    "y": 1.3919287994212937e-05,
                    "z": -7.070041465340182e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007859630277380347,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1813677701866254e-05,
                    "y": -4.140693818044383e-06,
                    "z": 0.00078586331801489
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4084938764572144,
                "transform": {
                    "location": {
                        "x": -231.83335876464844,
                        "y": 4292.48388671875,
                        "z": 373.2908935546875
                    },
                    "rotation": {
                        "roll": 0.00017542029672767967,
                        "pitch": 0.24113981425762177,
                        "yaw": 179.762451171875
                    }
                },
                "velocity": {
                    "x": -1.4084638357162476,
                    "y": -0.007970836944878101,
                    "z": 0.0045847222208976746
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9615525007247925,
                "transform": {
                    "location": {
                        "x": -236.1228790283203,
                        "y": 4295.66943359375,
                        "z": 373.3465270996094
                    },
                    "rotation": {
                        "roll": 0.00021055109391454607,
                        "pitch": 0.2911982834339142,
                        "yaw": 179.7465057373047
                    }
                },
                "velocity": {
                    "x": -0.9615395069122314,
                    "y": 0.004465254954993725,
                    "z": 0.0022351169027388096
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002442729310132563,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": -1.7667562133283354e-05,
                    "y": -2.1141748220543377e-05,
                    "z": -0.00024271411530207843
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00010052946890937164,
                "transform": {
                    "location": {
                        "x": -174.4833526611328,
                        "y": 4322.9638671875,
                        "z": 373.1153869628906
                    },
                    "rotation": {
                        "roll": -0.000488281948491931,
                        "pitch": -0.044676266610622406,
                        "yaw": -90.19078826904297
                    }
                },
                "velocity": {
                    "x": -8.483583951601759e-05,
                    "y": 1.4268932773120468e-06,
                    "z": 5.391677768784575e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.104670524597168,
                "transform": {
                    "location": {
                        "x": -155.2793731689453,
                        "y": 4295.18408203125,
                        "z": 373.0102233886719
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": 0.20952287316322327,
                        "yaw": 179.455322265625
                    }
                },
                "velocity": {
                    "x": -1.1046209335327148,
                    "y": 0.009330489672720432,
                    "z": 0.004731941036880016
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.820394039154053,
                "transform": {
                    "location": {
                        "x": -169.91351318359375,
                        "y": 4295.2705078125,
                        "z": 373.0674133300781
                    },
                    "rotation": {
                        "roll": 0.04307638481259346,
                        "pitch": 0.7542235851287842,
                        "yaw": 179.65850830078125
                    }
                },
                "velocity": {
                    "x": -6.820219993591309,
                    "y": 0.0404101125895977,
                    "z": 0.027238186448812485
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1511139869689941,
                "transform": {
                    "location": {
                        "x": -131.58148193359375,
                        "y": 4295.05224609375,
                        "z": 372.9350280761719
                    },
                    "rotation": {
                        "roll": 0.007919386960566044,
                        "pitch": 0.38978520035743713,
                        "yaw": -179.58168029785156
                    }
                },
                "velocity": {
                    "x": -1.1511023044586182,
                    "y": 0.004301720764487982,
                    "z": 0.0028818510472774506
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1414108276367188,
                "transform": {
                    "location": {
                        "x": -142.67686462402344,
                        "y": 4295.10693359375,
                        "z": 372.967529296875
                    },
                    "rotation": {
                        "roll": -0.0012512208195403218,
                        "pitch": 0.23122237622737885,
                        "yaw": 179.54269409179688
                    }
                },
                "velocity": {
                    "x": -2.1413564682006836,
                    "y": 0.013728397898375988,
                    "z": 0.006648711860179901
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.432427421212196e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": 5.895681624679128e-06,
                    "y": 1.692324417490454e-06,
                    "z": 8.410089503740892e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001243263395735994,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062316894531
                    },
                    "rotation": {
                        "roll": -0.0008544913143850863,
                        "pitch": -0.0722019225358963,
                        "yaw": -89.60335540771484
                    }
                },
                "velocity": {
                    "x": 5.257575594441732e-06,
                    "y": -1.0298564347976935e-06,
                    "z": 0.00012421085557434708
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0127100944519043,
                "transform": {
                    "location": {
                        "x": -174.47406005859375,
                        "y": 4332.96875,
                        "z": 373.12982177734375
                    },
                    "rotation": {
                        "roll": 0.000747806450817734,
                        "pitch": -0.08621064573526382,
                        "yaw": -90.38353729248047
                    }
                },
                "velocity": {
                    "x": -0.0026437989436089993,
                    "y": -2.012707233428955,
                    "z": -0.0020352171268314123
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.36342620849609375,
        "expert_target_speed": 10.0,
        "target_point": [
            14.314700417703794,
            0.89939785520487
        ],
        "target_point_next": [
            14.314700417703794,
            0.89939785520487
        ]
    },
    "945": {
        "acceleration": [
            -4.737873077392578,
            0.05203843116760254,
            0.006675496697425842
        ],
        "angular_velocity": [
            -0.026781143620610237,
            0.11967557668685913,
            0.23651142418384552
        ],
        "forward_vector": [
            -0.9996448755264282,
            0.0233713798224926,
            0.012804037891328335
        ],
        "right_vector": [
            -0.023368356749415398,
            -0.9997268915176392,
            0.00038559408858418465
        ],
        "location": [
            -186.56069946289062,
            4292.91845703125,
            373.12164306640625
        ],
        "rotation": [
            -0.02209472469985485,
            0.7336373925209045,
            178.6606903076172
        ],
        "velocity": [
            -14.890158653259277,
            0.3482931852340698,
            0.05249078571796417
        ],
        "speed": 14.894231529760527,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 34.96582794189453,
        "front_vehicle_info": {
            "id": 3922,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                6.974301868467592e-06,
                8.107881512842141e-06,
                0.00025503660435788333
            ],
            "speed_kmh": 0.0009189386837884532,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 3936,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -109.18772888183594,
                        "y": 4301.61279296875,
                        "z": 372.8445129394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.3386535048484802
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 3935,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00016722994041629136,
                "transform": {
                    "location": {
                        "x": -210.26437377929688,
                        "y": 4298.93994140625,
                        "z": 373.2123718261719
                    },
                    "rotation": {
                        "roll": -0.0029602048452943563,
                        "pitch": -0.22054679691791534,
                        "yaw": 0.20156517624855042
                    }
                },
                "velocity": {
                    "x": -1.6667321460772655e-06,
                    "y": -6.119431873230496e-06,
                    "z": -0.00016710962518118322
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3934,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00017084938008338213,
                "transform": {
                    "location": {
                        "x": -212.3668670654297,
                        "y": 4302.19189453125,
                        "z": 373.2555847167969
                    },
                    "rotation": {
                        "roll": -0.0018005369929596782,
                        "pitch": -0.21838845312595367,
                        "yaw": 0.15187183022499084
                    }
                },
                "velocity": {
                    "x": 1.0286234100931324e-05,
                    "y": 4.514701686275657e-06,
                    "z": 0.00017047968867700547
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3931,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.189172902144492e-05,
                "transform": {
                    "location": {
                        "x": -174.27101135253906,
                        "y": 4235.26513671875,
                        "z": 372.8910827636719
                    },
                    "rotation": {
                        "roll": 0.0003132041892968118,
                        "pitch": -0.23711682856082916,
                        "yaw": -88.3630599975586
                    }
                },
                "velocity": {
                    "x": 1.8976832507178187e-05,
                    "y": 4.971027465217048e-06,
                    "z": -6.916349957464263e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3930,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00041990671888925135,
                "transform": {
                    "location": {
                        "x": -200.2869415283203,
                        "y": 4298.8837890625,
                        "z": 373.21051025390625
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": -0.20894913375377655,
                        "yaw": -0.0659484714269638
                    }
                },
                "velocity": {
                    "x": 6.392374416464008e-06,
                    "y": 2.053226126008667e-05,
                    "z": -0.00041935572517104447
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3926,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -190.904052734375,
                        "y": 4298.8291015625,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.19952347874641418,
                        "yaw": -0.158599853515625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3925,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.542449697619304e-05,
                "transform": {
                    "location": {
                        "x": -192.55406188964844,
                        "y": 4302.087890625,
                        "z": 373.1417541503906
                    },
                    "rotation": {
                        "roll": 0.00030731913284398615,
                        "pitch": -0.20062313973903656,
                        "yaw": -0.35797119140625
                    }
                },
                "velocity": {
                    "x": 3.0947103368816897e-06,
                    "y": -7.002236543485196e-06,
                    "z": -9.511690586805344e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3924,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -226.06202697753906,
                        "y": 4295.59765625,
                        "z": 373.27301025390625
                    },
                    "rotation": {
                        "roll": 0.0008714377181604505,
                        "pitch": 0.2237706482410431,
                        "yaw": 179.86582946777344
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 3923,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00035634273081086576,
                "transform": {
                    "location": {
                        "x": -121.85945129394531,
                        "y": 4294.9814453125,
                        "z": 372.8829650878906
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": 0.22683057188987732,
                        "yaw": 179.44558715820312
                    }
                },
                "velocity": {
                    "x": 7.976070264703594e-06,
                    "y": 1.1761523637687787e-05,
                    "z": 0.0003560592595022172
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3922,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00025526073295623064,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 6.974301868467592e-06,
                    "y": 8.107881512842141e-06,
                    "z": 0.00025503660435788333
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3921,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.2694437503814697,
                "transform": {
                    "location": {
                        "x": -232.2974090576172,
                        "y": 4292.48193359375,
                        "z": 373.292724609375
                    },
                    "rotation": {
                        "roll": 0.0005607067723758519,
                        "pitch": 0.24142667651176453,
                        "yaw": 179.88601684570312
                    }
                },
                "velocity": {
                    "x": -2.269378423690796,
                    "y": -0.015345526859164238,
                    "z": 0.007820005528628826
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3920,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.7719604969024658,
                "transform": {
                    "location": {
                        "x": -236.46897888183594,
                        "y": 4295.67138671875,
                        "z": 373.3476867675781
                    },
                    "rotation": {
                        "roll": 0.0008135482203215361,
                        "pitch": 0.30526164174079895,
                        "yaw": 179.7339324951172
                    }
                },
                "velocity": {
                    "x": -1.7719303369522095,
                    "y": 0.008358987048268318,
                    "z": 0.006094026379287243
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3929,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005368638085201383,
                "transform": {
                    "location": {
                        "x": -202.0546875,
                        "y": 4302.1376953125,
                        "z": 373.21697998046875
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": -0.21398980915546417,
                        "yaw": -0.0841369554400444
                    }
                },
                "velocity": {
                    "x": -3.597996965254424e-06,
                    "y": -3.646285767899826e-05,
                    "z": -0.0005356120527721941
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 3928,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -111.83085632324219,
                        "y": 4294.93310546875,
                        "z": 372.8433532714844
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.22832638025283813,
                        "yaw": 179.1484375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3941,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.031396424077684e-06,
                "transform": {
                    "location": {
                        "x": -174.4833526611328,
                        "y": 4322.9638671875,
                        "z": 373.1153869628906
                    },
                    "rotation": {
                        "roll": -0.000488281948491931,
                        "pitch": -0.044676266610622406,
                        "yaw": -90.19078826904297
                    }
                },
                "velocity": {
                    "x": 2.2142207001252245e-07,
                    "y": -1.3337330528884195e-06,
                    "z": -5.877913736185292e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3713,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.319740653038025,
                "transform": {
                    "location": {
                        "x": -155.59046936035156,
                        "y": 4295.18603515625,
                        "z": 373.0111999511719
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": 0.21798548102378845,
                        "yaw": 179.54054260253906
                    }
                },
                "velocity": {
                    "x": -1.3196935653686523,
                    "y": 0.00949372723698616,
                    "z": 0.005854282062500715
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 3712,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.188838005065918,
                "transform": {
                    "location": {
                        "x": -171.79522705078125,
                        "y": 4295.28173828125,
                        "z": 373.0752258300781
                    },
                    "rotation": {
                        "roll": 0.07508444786071777,
                        "pitch": 0.811228334903717,
                        "yaw": 179.660888671875
                    }
                },
                "velocity": {
                    "x": -8.188638687133789,
                    "y": 0.04642240330576897,
                    "z": 0.03332185745239258
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 3915,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3512930870056152,
                "transform": {
                    "location": {
                        "x": -132.00804138183594,
                        "y": 4295.05322265625,
                        "z": 372.9356994628906
                    },
                    "rotation": {
                        "roll": 0.010283604264259338,
                        "pitch": 0.49318060278892517,
                        "yaw": -179.7214813232422
                    }
                },
                "velocity": {
                    "x": -2.3512589931488037,
                    "y": 0.008994542993605137,
                    "z": 0.008910245262086391
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3896,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6746771335601807,
                "transform": {
                    "location": {
                        "x": -143.28125,
                        "y": 4295.111328125,
                        "z": 372.9697265625
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.23193955421447754,
                        "yaw": 179.56863403320312
                    }
                },
                "velocity": {
                    "x": -2.6746039390563965,
                    "y": 0.017040541395545006,
                    "z": 0.010074433870613575
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 3939,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.911570380907506e-05,
                "transform": {
                    "location": {
                        "x": -220.98280334472656,
                        "y": 4298.978515625,
                        "z": 373.2586975097656
                    },
                    "rotation": {
                        "roll": 0.00014511396875604987,
                        "pitch": -0.22436487674713135,
                        "yaw": -0.2889403700828552
                    }
                },
                "velocity": {
                    "x": -1.0255947927362286e-05,
                    "y": -8.95276025403291e-06,
                    "z": 6.776166992494836e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 3940,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00013352572568692267,
                "transform": {
                    "location": {
                        "x": -174.48890686035156,
                        "y": 4313.71728515625,
                        "z": 373.1062316894531
                    },
                    "rotation": {
                        "roll": -0.0008544913143850863,
                        "pitch": -0.0722019225358963,
                        "yaw": -89.60335540771484
                    }
                },
                "velocity": {
                    "x": 3.587786295611295e-06,
                    "y": -3.204168706361088e-06,
                    "z": 0.00013343905447982252
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 3942,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003463007742539048,
                "transform": {
                    "location": {
                        "x": -174.474365234375,
                        "y": 4332.7060546875,
                        "z": 373.1277770996094
                    },
                    "rotation": {
                        "roll": -0.00189208984375,
                        "pitch": 0.16243554651737213,
                        "yaw": -90.33592987060547
                    }
                },
                "velocity": {
                    "x": 0.00016943333321250975,
                    "y": 4.546828677121084e-06,
                    "z": -0.0003019865835085511
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.34920769929885864,
        "expert_target_speed": 10.0,
        "target_point": [
            10.746371844315979,
            0.8866699377438527
        ],
        "target_point_next": [
            10.746371844315979,
            0.8866699377438527
        ]
    }
}