{
    "0": {
        "acceleration": [
            -0.005202868487685919,
            0.012933993712067604,
            -0.6230545043945312
        ],
        "angular_velocity": [
            -0.00526195764541626,
            -0.060873135924339294,
            -0.0011919662356376648
        ],
        "forward_vector": [
            -0.0933532789349556,
            0.9954130053520203,
            0.02093341015279293
        ],
        "right_vector": [
            -0.9956307411193848,
            -0.09337820112705231,
            0.00021407008171081543
        ],
        "location": [
            973.8739624023438,
            3291.0732421875,
            368.61944580078125
        ],
        "rotation": [
            -0.012268000282347202,
            1.1994836330413818,
            95.35772705078125
        ],
        "velocity": [
            -0.00018715483020059764,
            -0.0029399495106190443,
            0.1422610580921173
        ],
        "speed": 0.002945900550842912,
        "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": 104.95640563964844,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                957.3087158203125,
                3394.70361328125,
                370.0978698730469
            ],
            "velocity": [
                0.01739424467086792,
                0.0006445407052524388,
                0.24876396358013153
            ],
            "speed_kmh": 0.8977398523203041,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.31133830547332764,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.5966796875,
                        "z": 370.1761779785156
                    },
                    "rotation": {
                        "roll": 1.4965370893478394,
                        "pitch": 1.2346385717391968,
                        "yaw": 99.15874481201172
                    }
                },
                "velocity": {
                    "x": -0.002054150216281414,
                    "y": -0.004629478789865971,
                    "z": 0.31129711866378784
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.2493721842765808,
                "transform": {
                    "location": {
                        "x": 957.3087158203125,
                        "y": 3394.70361328125,
                        "z": 370.0978698730469
                    },
                    "rotation": {
                        "roll": 0.9311417937278748,
                        "pitch": 0.17821328341960907,
                        "yaw": 99.13648223876953
                    }
                },
                "velocity": {
                    "x": 0.01739424467086792,
                    "y": 0.0006445407052524388,
                    "z": 0.24876396358013153
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08524148911237717,
        "expert_target_speed": 1.3414946328950883,
        "target_point": [
            51.607392304757404,
            2.406470025820968
        ],
        "target_point_next": [
            102.49611066517797,
            5.77297233549373
        ]
    },
    "5": {
        "acceleration": [
            0.0027866314630955458,
            0.004687055479735136,
            -0.24819739162921906
        ],
        "angular_velocity": [
            0.002396738389506936,
            -0.0018948959186673164,
            6.322129775071517e-05
        ],
        "forward_vector": [
            -0.09335345774888992,
            0.995413601398468,
            0.02090003713965416
        ],
        "right_vector": [
            -0.9956308603286743,
            -0.09337631613016129,
            0.00011821742373285815
        ],
        "location": [
            973.8740234375,
            3291.072998046875,
            368.64019775390625
        ],
        "rotation": [
            -0.0067748394794762135,
            1.1975711584091187,
            95.35773468017578
        ],
        "velocity": [
            7.099363574525341e-05,
            -0.000913514755666256,
            0.042534809559583664
        ],
        "speed": 0.0009162692317961511,
        "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": 14.823769569396973,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                972.2530517578125,
                3305.804931640625,
                368.9346923828125
            ],
            "velocity": [
                -0.0010160461533814669,
                0.008287428878247738,
                -0.4560264050960541
            ],
            "speed_kmh": 1.6419702055145478,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.9348754882812,
                        "y": 3370.810791015625,
                        "z": 369.9275207519531
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.726318359375,
                        "y": 3370.294189453125,
                        "z": 369.927490234375
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45610281825065613,
                "transform": {
                    "location": {
                        "x": 972.2530517578125,
                        "y": 3305.804931640625,
                        "z": 368.9346923828125
                    },
                    "rotation": {
                        "roll": -0.0031738413963466883,
                        "pitch": 1.0420750379562378,
                        "yaw": 97.19969177246094
                    }
                },
                "velocity": {
                    "x": -0.0010160461533814669,
                    "y": 0.008287428878247738,
                    "z": -0.4560264050960541
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.434943288564682,
                "transform": {
                    "location": {
                        "x": 970.1559448242188,
                        "y": 3320.498291015625,
                        "z": 369.20050048828125
                    },
                    "rotation": {
                        "roll": -6.099958045524545e-05,
                        "pitch": 0.9354695081710815,
                        "yaw": 99.04505920410156
                    }
                },
                "velocity": {
                    "x": -0.0011708709644153714,
                    "y": 0.006559568922966719,
                    "z": -0.4348922371864319
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3635392189025879,
                "transform": {
                    "location": {
                        "x": 978.9415283203125,
                        "y": 3261.520751953125,
                        "z": 367.989013671875
                    },
                    "rotation": {
                        "roll": -0.0006103418418206275,
                        "pitch": 1.3141692876815796,
                        "yaw": 91.66436767578125
                    }
                },
                "velocity": {
                    "x": -0.0003609201521612704,
                    "y": 0.008116889744997025,
                    "z": -0.3634484112262726
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.364204466342926,
                "transform": {
                    "location": {
                        "x": 978.266845703125,
                        "y": 3276.45263671875,
                        "z": 368.3294372558594
                    },
                    "rotation": {
                        "roll": 0.0007468164549209177,
                        "pitch": 1.2973670959472656,
                        "yaw": 93.50946807861328
                    }
                },
                "velocity": {
                    "x": -0.0007244576117955148,
                    "y": 0.008030439727008343,
                    "z": -0.3641152083873749
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45719748735427856,
                "transform": {
                    "location": {
                        "x": 975.4774169921875,
                        "y": 3306.21240234375,
                        "z": 368.9347229003906
                    },
                    "rotation": {
                        "roll": -0.002136223018169403,
                        "pitch": 1.0347189903259277,
                        "yaw": 97.19947814941406
                    }
                },
                "velocity": {
                    "x": -0.0010964279063045979,
                    "y": 0.008224725723266602,
                    "z": -0.45712220668792725
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.363313227891922,
                "transform": {
                    "location": {
                        "x": 973.3656005859375,
                        "y": 3321.00927734375,
                        "z": 369.1916809082031
                    },
                    "rotation": {
                        "roll": 0.0002595811092760414,
                        "pitch": 0.9263101816177368,
                        "yaw": 99.04488372802734
                    }
                },
                "velocity": {
                    "x": -0.000620460428763181,
                    "y": 0.005721104796975851,
                    "z": -0.3632676601409912
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.060549765825271606,
                "transform": {
                    "location": {
                        "x": 955.87890625,
                        "y": 3403.59326171875,
                        "z": 370.2186584472656
                    },
                    "rotation": {
                        "roll": 0.22038011252880096,
                        "pitch": 0.7942963242530823,
                        "yaw": 99.14007568359375
                    }
                },
                "velocity": {
                    "x": 0.01622895710170269,
                    "y": 0.0011213882826268673,
                    "z": 0.058323558419942856
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.058009736239910126,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1326904296875
                    },
                    "rotation": {
                        "roll": 0.14074677228927612,
                        "pitch": 0.18449023365974426,
                        "yaw": 99.14047241210938
                    }
                },
                "velocity": {
                    "x": 0.005968851502984762,
                    "y": 0.00047641940182074904,
                    "z": 0.05769987404346466
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0860050693154335,
        "expert_target_speed": 1.2085592165480596,
        "target_point": [
            51.60764279909229,
            2.40647108538598
        ],
        "target_point_next": [
            102.49636356740994,
            5.772936996610111
        ]
    },
    "10": {
        "acceleration": [
            0.0018344359705224633,
            0.000772681669332087,
            -0.07227808237075806
        ],
        "angular_velocity": [
            0.008722941391170025,
            -0.010545377619564533,
            -0.00010062225192086771
        ],
        "forward_vector": [
            -0.09335419535636902,
            0.9954137802124023,
            0.020890025421977043
        ],
        "right_vector": [
            -0.9956308603286743,
            -0.0933762639760971,
            8.147581684170291e-05
        ],
        "location": [
            973.8740234375,
            3291.072998046875,
            368.6458435058594
        ],
        "rotation": [
            -0.004669239278882742,
            1.1969974040985107,
            95.35777282714844
        ],
        "velocity": [
            9.06331479200162e-06,
            -0.0002958175609819591,
            0.01125412154942751
        ],
        "speed": 0.0002959563701972539,
        "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": 14.82352066040039,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                972.2530517578125,
                3305.804931640625,
                368.9275207519531
            ],
            "velocity": [
                0.0002376805932726711,
                -0.001762145315296948,
                0.0947037786245346
            ],
            "speed_kmh": 0.3409936900411529,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.2658081054688,
                        "y": 3368.753662109375,
                        "z": 369.88134765625
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.0573120117188,
                        "y": 3368.237060546875,
                        "z": 369.88134765625
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09472046792507172,
                "transform": {
                    "location": {
                        "x": 972.2530517578125,
                        "y": 3305.804931640625,
                        "z": 368.9275207519531
                    },
                    "rotation": {
                        "roll": -0.0025635058991611004,
                        "pitch": 1.0422799587249756,
                        "yaw": 97.1997299194336
                    }
                },
                "velocity": {
                    "x": 0.0002376805932726711,
                    "y": -0.001762145315296948,
                    "z": 0.0947037786245346
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02732248790562153,
                "transform": {
                    "location": {
                        "x": 970.1558227539062,
                        "y": 3320.4990234375,
                        "z": 369.17633056640625
                    },
                    "rotation": {
                        "roll": -0.0005187910865060985,
                        "pitch": 0.942893922328949,
                        "yaw": 99.04518127441406
                    }
                },
                "velocity": {
                    "x": -3.099249443039298e-05,
                    "y": -0.0004654131771530956,
                    "z": 0.027318505570292473
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.044361237436532974,
                "transform": {
                    "location": {
                        "x": 978.9415283203125,
                        "y": 3261.521240234375,
                        "z": 367.9813232421875
                    },
                    "rotation": {
                        "roll": -0.00024419036344625056,
                        "pitch": 1.3165735006332397,
                        "yaw": 91.66446685791016
                    }
                },
                "velocity": {
                    "x": -0.0001107626740122214,
                    "y": -0.0010514111490920186,
                    "z": 0.04434863477945328
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04428277164697647,
                "transform": {
                    "location": {
                        "x": 978.2667846679688,
                        "y": 3276.453125,
                        "z": 368.3217468261719
                    },
                    "rotation": {
                        "roll": 0.0011635123519226909,
                        "pitch": 1.299306869506836,
                        "yaw": 93.50953674316406
                    }
                },
                "velocity": {
                    "x": -6.062570901121944e-05,
                    "y": -0.001042025862261653,
                    "z": 0.04427046701312065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09497421979904175,
                "transform": {
                    "location": {
                        "x": 975.4774169921875,
                        "y": 3306.21240234375,
                        "z": 368.927490234375
                    },
                    "rotation": {
                        "roll": -0.0015258888015523553,
                        "pitch": 1.0344867706298828,
                        "yaw": 97.19947052001953
                    }
                },
                "velocity": {
                    "x": 0.0001274428068427369,
                    "y": -0.001779384445399046,
                    "z": 0.09495746344327927
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04412883520126343,
                "transform": {
                    "location": {
                        "x": 973.3655395507812,
                        "y": 3321.00927734375,
                        "z": 369.18402099609375
                    },
                    "rotation": {
                        "roll": -0.0006103146588429809,
                        "pitch": 0.9276557564735413,
                        "yaw": 99.04496002197266
                    }
                },
                "velocity": {
                    "x": -0.00033784352126531303,
                    "y": -0.0007974902982823551,
                    "z": 0.04412033408880234
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.00385037949308753,
                "transform": {
                    "location": {
                        "x": 955.8789672851562,
                        "y": 3403.592529296875,
                        "z": 370.2220764160156
                    },
                    "rotation": {
                        "roll": -0.014038082212209702,
                        "pitch": 0.7028947472572327,
                        "yaw": 99.1385498046875
                    }
                },
                "velocity": {
                    "x": 0.0005909415776841342,
                    "y": 2.2205262212082744e-05,
                    "z": -0.003804696723818779
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.008272900246083736,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1389465332031
                    },
                    "rotation": {
                        "roll": 0.01863686740398407,
                        "pitch": 0.18544645607471466,
                        "yaw": 99.1407699584961
                    }
                },
                "velocity": {
                    "x": 0.0007099392241798341,
                    "y": -2.319313534826506e-05,
                    "z": 0.00824234914034605
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08642131835222244,
        "expert_target_speed": 1.1772561641776695,
        "target_point": [
            51.60764279909229,
            2.40647108538598
        ],
        "target_point_next": [
            102.49636356740994,
            5.772936996610111
        ]
    },
    "15": {
        "acceleration": [
            -0.0003240756632294506,
            0.0008387267007492483,
            0.0035523087717592716
        ],
        "angular_velocity": [
            -0.0009998956229537725,
            -0.008332290686666965,
            9.83361023827456e-05
        ],
        "forward_vector": [
            -0.09335477650165558,
            0.9954136610031128,
            0.020893841981887817
        ],
        "right_vector": [
            -0.9956308603286743,
            -0.093376524746418,
            6.54999166727066e-05
        ],
        "location": [
            973.8740234375,
            3291.072998046875,
            368.64703369140625
        ],
        "rotation": [
            -0.0037536881864070892,
            1.1972160339355469,
            95.3578109741211
        ],
        "velocity": [
            -7.037613158900058e-06,
            -7.13495901436545e-05,
            0.0017646695487201214
        ],
        "speed": 7.169582981346825e-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": 14.82376766204834,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                972.2530517578125,
                3305.804931640625,
                368.94146728515625
            ],
            "velocity": [
                7.558654760941863e-05,
                -0.0004251444188412279,
                0.02109353058040142
            ],
            "speed_kmh": 0.07595261993574666,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.5971069335938,
                        "y": 3366.69677734375,
                        "z": 369.8351745605469
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.3884887695312,
                        "y": 3366.179931640625,
                        "z": 369.83514404296875
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.021097950637340546,
                "transform": {
                    "location": {
                        "x": 972.2530517578125,
                        "y": 3305.804931640625,
                        "z": 368.94146728515625
                    },
                    "rotation": {
                        "roll": -0.002471976215019822,
                        "pitch": 1.0412895679473877,
                        "yaw": 97.19973754882812
                    }
                },
                "velocity": {
                    "x": 7.558654760941863e-05,
                    "y": -0.0004251444188412279,
                    "z": 0.02109353058040142
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8337249755859375,
                "transform": {
                    "location": {
                        "x": 970.1444091796875,
                        "y": 3320.561767578125,
                        "z": 369.1826171875
                    },
                    "rotation": {
                        "roll": -0.014099202118813992,
                        "pitch": 1.1444528102874756,
                        "yaw": 99.06072998046875
                    }
                },
                "velocity": {
                    "x": -0.14669819176197052,
                    "y": 0.8197891116142273,
                    "z": 0.039022721350193024
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1284579038619995,
                "transform": {
                    "location": {
                        "x": 978.9373779296875,
                        "y": 3261.608154296875,
                        "z": 367.9901123046875
                    },
                    "rotation": {
                        "roll": -0.006134056951850653,
                        "pitch": 1.4588805437088013,
                        "yaw": 91.76386260986328
                    }
                },
                "velocity": {
                    "x": -0.05189502239227295,
                    "y": 1.1266261339187622,
                    "z": 0.03791928291320801
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1450859308242798,
                "transform": {
                    "location": {
                        "x": 978.2598876953125,
                        "y": 3276.53857421875,
                        "z": 368.3305358886719
                    },
                    "rotation": {
                        "roll": -0.005279481410980225,
                        "pitch": 1.4395716190338135,
                        "yaw": 93.57929229736328
                    }
                },
                "velocity": {
                    "x": -0.08897469192743301,
                    "y": 1.1410139799118042,
                    "z": 0.03731609135866165
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020995788276195526,
                "transform": {
                    "location": {
                        "x": 975.4774169921875,
                        "y": 3306.212158203125,
                        "z": 368.94146728515625
                    },
                    "rotation": {
                        "roll": -0.0020446942653506994,
                        "pitch": 1.0344867706298828,
                        "yaw": 97.1995849609375
                    }
                },
                "velocity": {
                    "x": 7.908639963716269e-05,
                    "y": -0.0004151256289333105,
                    "z": 0.020991533994674683
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0934300422668457,
                "transform": {
                    "location": {
                        "x": 973.3508911132812,
                        "y": 3321.093017578125,
                        "z": 369.1922912597656
                    },
                    "rotation": {
                        "roll": -0.0046081324107944965,
                        "pitch": 1.0655436515808105,
                        "yaw": 99.12443542480469
                    }
                },
                "velocity": {
                    "x": -0.18759068846702576,
                    "y": 1.07681405544281,
                    "z": 0.029506081715226173
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08498643338680267,
        "expert_target_speed": 1.168307829719641,
        "target_point": [
            51.60764452032133,
            2.406434172722763
        ],
        "target_point_next": [
            102.49636769651002,
            5.7728636854965405
        ]
    },
    "20": {
        "acceleration": [
            0.0001769447699189186,
            -0.0008903801790438592,
            0.002564741298556328
        ],
        "angular_velocity": [
            0.005770059768110514,
            0.0023732446134090424,
            0.0003039547009393573
        ],
        "forward_vector": [
            -0.09335478395223618,
            0.9954137206077576,
            0.02088943123817444
        ],
        "right_vector": [
            -0.9956308603286743,
            -0.0933762714266777,
            5.325208985595964e-05
        ],
        "location": [
            973.8740234375,
            3291.072998046875,
            368.6473693847656
        ],
        "rotation": [
            -0.003051785985007882,
            1.1969633102416992,
            95.3578109741211
        ],
        "velocity": [
            1.1132377949252259e-05,
            -9.141892223851755e-05,
            0.0015941470628604293
        ],
        "speed": 9.209424076486605e-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": 15.054104804992676,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                972.2202758789062,
                3306.032958984375,
                368.94866943359375
            ],
            "velocity": [
                -0.31546592712402344,
                2.148010492324829,
                0.03877560421824455
            ],
            "speed_kmh": 7.817034540310002,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.9281005859375,
                        "y": 3364.639404296875,
                        "z": 369.8101806640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6958323121070862,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.7194213867188,
                        "y": 3364.122314453125,
                        "z": 369.8101501464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6958323121070862,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.171398639678955,
                "transform": {
                    "location": {
                        "x": 972.2202758789062,
                        "y": 3306.032958984375,
                        "z": 368.94866943359375
                    },
                    "rotation": {
                        "roll": 0.008142910897731781,
                        "pitch": 0.8511576652526855,
                        "yaw": 97.35446166992188
                    }
                },
                "velocity": {
                    "x": -0.31546592712402344,
                    "y": 2.148010492324829,
                    "z": 0.03877560421824455
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.904551386833191,
                "transform": {
                    "location": {
                        "x": 970.083984375,
                        "y": 3320.916259765625,
                        "z": 369.1921691894531
                    },
                    "rotation": {
                        "roll": -0.004974286537617445,
                        "pitch": 1.3473366498947144,
                        "yaw": 99.18108367919922
                    }
                },
                "velocity": {
                    "x": -0.3179813027381897,
                    "y": 1.8773751258850098,
                    "z": 0.04081907123327255
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.114675998687744,
                "transform": {
                    "location": {
                        "x": 978.9186401367188,
                        "y": 3262.0224609375,
                        "z": 368.00103759765625
                    },
                    "rotation": {
                        "roll": 0.0017252470133826137,
                        "pitch": 1.4741255044937134,
                        "yaw": 91.99658966064453
                    }
                },
                "velocity": {
                    "x": -0.09405998140573502,
                    "y": 2.1119940280914307,
                    "z": 0.04988332465291023
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.146883964538574,
                "transform": {
                    "location": {
                        "x": 978.2271728515625,
                        "y": 3276.9619140625,
                        "z": 368.3414001464844
                    },
                    "rotation": {
                        "roll": 0.00040989078115671873,
                        "pitch": 1.4585527181625366,
                        "yaw": 93.8084487915039
                    }
                },
                "velocity": {
                    "x": -0.16438663005828857,
                    "y": 2.13999605178833,
                    "z": 0.050042085349559784
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1764469146728516,
                "transform": {
                    "location": {
                        "x": 975.4457397460938,
                        "y": 3306.436767578125,
                        "z": 368.94854736328125
                    },
                    "rotation": {
                        "roll": 0.00783963780850172,
                        "pitch": 0.8429477214813232,
                        "yaw": 97.39549255371094
                    }
                },
                "velocity": {
                    "x": -0.31561753153800964,
                    "y": 2.1530871391296387,
                    "z": 0.03901272639632225
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1959831714630127,
                "transform": {
                    "location": {
                        "x": 973.2801513671875,
                        "y": 3321.51025390625,
                        "z": 369.2004089355469
                    },
                    "rotation": {
                        "roll": 0.0008563330629840493,
                        "pitch": 1.1014772653579712,
                        "yaw": 99.3161849975586
                    }
                },
                "velocity": {
                    "x": -0.3657890558242798,
                    "y": 2.164977788925171,
                    "z": 0.03757600858807564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08494735509157181,
        "expert_target_speed": 1.1694947624142384,
        "target_point": [
            51.6076456677927,
            2.4064095642799357
        ],
        "target_point_next": [
            102.4963704492143,
            5.772814811419185
        ]
    },
    "25": {
        "acceleration": [
            -0.0011700564064085484,
            0.000193396263057366,
            0.011334056966006756
        ],
        "angular_velocity": [
            0.004178586415946484,
            -0.010759427212178707,
            3.9101829315768555e-05
        ],
        "forward_vector": [
            -0.09335514158010483,
            0.9954137206077576,
            0.02088943123817444
        ],
        "right_vector": [
            -0.9956308603286743,
            -0.09337694942951202,
            6.869528442621231e-05
        ],
        "location": [
            973.8740234375,
            3291.072998046875,
            368.6474609375
        ],
        "rotation": [
            -0.00393680902197957,
            1.1969633102416992,
            95.35782623291016
        ],
        "velocity": [
            -4.554055703920312e-05,
            -8.602022717241198e-05,
            0.0015199139015749097
        ],
        "speed": 9.733150475685804e-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": 15.750432014465332,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                972.1207885742188,
                3306.722412109375,
                368.9606628417969
            ],
            "velocity": [
                -0.4834674000740051,
                3.2604634761810303,
                0.05855710059404373
            ],
            "speed_kmh": 11.86788022169727,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.2592163085938,
                        "y": 3362.58203125,
                        "z": 369.7849426269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6958323121070862,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.0505981445312,
                        "y": 3362.065185546875,
                        "z": 369.784912109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6958323121070862,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.296633243560791,
                "transform": {
                    "location": {
                        "x": 972.1207885742188,
                        "y": 3306.722412109375,
                        "z": 368.9606628417969
                    },
                    "rotation": {
                        "roll": 0.010860011912882328,
                        "pitch": 0.892958402633667,
                        "yaw": 97.6651611328125
                    }
                },
                "velocity": {
                    "x": -0.4834674000740051,
                    "y": 3.2604634761810303,
                    "z": 0.05855710059404373
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.931532382965088,
                "transform": {
                    "location": {
                        "x": 969.9821166992188,
                        "y": 3321.520263671875,
                        "z": 369.2033996582031
                    },
                    "rotation": {
                        "roll": -0.003051796928048134,
                        "pitch": 1.383980631828308,
                        "yaw": 99.28543090820312
                    }
                },
                "velocity": {
                    "x": -0.49042564630508423,
                    "y": 2.8897807598114014,
                    "z": 0.05032258853316307
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6235101222991943,
                "transform": {
                    "location": {
                        "x": 978.885986328125,
                        "y": 3262.733642578125,
                        "z": 368.0174865722656
                    },
                    "rotation": {
                        "roll": 0.005263211205601692,
                        "pitch": 1.533438801765442,
                        "yaw": 92.28157806396484
                    }
                },
                "velocity": {
                    "x": -0.16765739023685455,
                    "y": 3.6186745166778564,
                    "z": 0.08313413709402084
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.604149341583252,
                "transform": {
                    "location": {
                        "x": 978.1715698242188,
                        "y": 3277.6728515625,
                        "z": 368.3576965332031
                    },
                    "rotation": {
                        "roll": 0.0029431686270982027,
                        "pitch": 1.5021018981933594,
                        "yaw": 94.10601043701172
                    }
                },
                "velocity": {
                    "x": -0.2821343243122101,
                    "y": 3.5921831130981445,
                    "z": 0.0807017907500267
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3029685020446777,
                "transform": {
                    "location": {
                        "x": 975.3458862304688,
                        "y": 3307.1279296875,
                        "z": 368.9605407714844
                    },
                    "rotation": {
                        "roll": 0.010966216214001179,
                        "pitch": 0.8852881193161011,
                        "yaw": 97.69548797607422
                    }
                },
                "velocity": {
                    "x": -0.4840916693210602,
                    "y": 3.2667737007141113,
                    "z": 0.05869942530989647
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6362624168395996,
                "transform": {
                    "location": {
                        "x": 973.1585693359375,
                        "y": 3322.2275390625,
                        "z": 369.2123718261719
                    },
                    "rotation": {
                        "roll": 0.0017948270542547107,
                        "pitch": 1.1396238803863525,
                        "yaw": 99.47381591796875
                    }
                },
                "velocity": {
                    "x": -0.6074721217155457,
                    "y": 3.584689140319824,
                    "z": 0.05817408487200737
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08590062707662582,
        "expert_target_speed": 1.1712901870483117,
        "target_point": [
            51.6076456677927,
            2.4064095642799357
        ],
        "target_point_next": [
            102.4963704492143,
            5.772814811419185
        ]
    },
    "30": {
        "acceleration": [
            -0.001349820289760828,
            -0.0006657659541815519,
            0.00739626120775938
        ],
        "angular_velocity": [
            0.005296516232192516,
            0.0022868935484439135,
            0.0003030214284081012
        ],
        "forward_vector": [
            -0.09335633367300034,
            0.9954136610031128,
            0.02088788151741028
        ],
        "right_vector": [
            -0.9956307411193848,
            -0.09337790310382843,
            5.751195931225084e-05
        ],
        "location": [
            973.8740234375,
            3291.072998046875,
            368.64752197265625
        ],
        "rotation": [
            -0.0032959114760160446,
            1.1968744993209839,
            95.35789489746094
        ],
        "velocity": [
            5.003809746995103e-06,
            -9.578108438290656e-05,
            0.0018553010886535048
        ],
        "speed": 9.591170021196366e-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": 16.717702865600586,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                971.9813232421875,
                3307.679931640625,
                368.97772216796875
            ],
            "velocity": [
                -0.645749032497406,
                4.357543468475342,
                0.07833635061979294
            ],
            "speed_kmh": 15.860977985446432,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.02220344543457,
                "transform": {
                    "location": {
                        "x": 973.5843505859375,
                        "y": 3360.563720703125,
                        "z": 369.75909423828125
                    },
                    "rotation": {
                        "roll": -0.00021367662702687085,
                        "pitch": -0.7798163294792175,
                        "yaw": -80.84754943847656
                    }
                },
                "velocity": {
                    "x": 1.1264852285385132,
                    "y": -6.930206775665283,
                    "z": -0.12085086852312088
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.751163005828857,
                "transform": {
                    "location": {
                        "x": 970.3645629882812,
                        "y": 3360.1240234375,
                        "z": 369.75836181640625
                    },
                    "rotation": {
                        "roll": -0.005401565693318844,
                        "pitch": -0.7905260324478149,
                        "yaw": -80.80756378173828
                    }
                },
                "velocity": {
                    "x": 1.1088284254074097,
                    "y": -6.658267021179199,
                    "z": -0.12721246480941772
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.405827045440674,
                "transform": {
                    "location": {
                        "x": 971.9813232421875,
                        "y": 3307.679931640625,
                        "z": 368.97772216796875
                    },
                    "rotation": {
                        "roll": 0.013218209147453308,
                        "pitch": 0.9081487059593201,
                        "yaw": 97.95088958740234
                    }
                },
                "velocity": {
                    "x": -0.645749032497406,
                    "y": 4.357543468475342,
                    "z": 0.07833635061979294
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.271467685699463,
                "transform": {
                    "location": {
                        "x": 969.8306274414062,
                        "y": 3322.41455078125,
                        "z": 369.2180480957031
                    },
                    "rotation": {
                        "roll": -0.0052795144729316235,
                        "pitch": 1.4763795137405396,
                        "yaw": 99.44805908203125
                    }
                },
                "velocity": {
                    "x": -0.7169737219810486,
                    "y": 4.2102885246276855,
                    "z": 0.069668710231781
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.037664890289307,
                "transform": {
                    "location": {
                        "x": 978.8338623046875,
                        "y": 3263.826904296875,
                        "z": 368.04254150390625
                    },
                    "rotation": {
                        "roll": 0.0043611591681838036,
                        "pitch": 1.5412662029266357,
                        "yaw": 92.56188201904297
                    }
                },
                "velocity": {
                    "x": -0.2424197942018509,
                    "y": 5.030527591705322,
                    "z": 0.11443149298429489
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.009521484375,
                "transform": {
                    "location": {
                        "x": 978.0848999023438,
                        "y": 3278.757080078125,
                        "z": 368.3821105957031
                    },
                    "rotation": {
                        "roll": 0.00441243639215827,
                        "pitch": 1.5046427249908447,
                        "yaw": 94.39480590820312
                    }
                },
                "velocity": {
                    "x": -0.4018112123012543,
                    "y": 4.992128372192383,
                    "z": 0.11184529960155487
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.412435531616211,
                "transform": {
                    "location": {
                        "x": 975.2061767578125,
                        "y": 3308.087158203125,
                        "z": 368.9775695800781
                    },
                    "rotation": {
                        "roll": 0.012012130580842495,
                        "pitch": 0.9006013870239258,
                        "yaw": 97.96939849853516
                    }
                },
                "velocity": {
                    "x": -0.646435022354126,
                    "y": 4.36414098739624,
                    "z": 0.07734281569719315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.0466814041137695,
                "transform": {
                    "location": {
                        "x": 972.9747314453125,
                        "y": 3323.30859375,
                        "z": 369.23004150390625
                    },
                    "rotation": {
                        "roll": 0.004319040570408106,
                        "pitch": 1.1481820344924927,
                        "yaw": 99.58753967285156
                    }
                },
                "velocity": {
                    "x": -0.8472201824188232,
                    "y": 4.974405288696289,
                    "z": 0.08063685894012451
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08537235110998154,
        "expert_target_speed": 1.1740752682877904,
        "target_point": [
            51.60764911013639,
            2.406335738948168
        ],
        "target_point_next": [
            102.49637870718725,
            5.772668189179244
        ]
    },
    "35": {
        "acceleration": [
            -0.3874374032020569,
            4.331249237060547,
            0.09403972327709198
        ],
        "angular_velocity": [
            1.4307717084884644,
            0.16303198039531708,
            0.49591144919395447
        ],
        "forward_vector": [
            -0.09332619607448578,
            0.9953309893608093,
            0.024626625701785088
        ],
        "right_vector": [
            -0.9956328272819519,
            -0.09335598349571228,
            6.016995394020341e-05
        ],
        "location": [
            973.8668823242188,
            3291.149658203125,
            368.6483459472656
        ],
        "rotation": [
            -0.003448530100286007,
            1.4111443758010864,
            95.35662078857422
        ],
        "velocity": [
            -0.080721415579319,
            0.8682652115821838,
            0.017979726195335388
        ],
        "speed": 0.8720094177111756,
        "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": 17.874835968017578,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                971.8021850585938,
                3308.9013671875,
                368.9999084472656
            ],
            "velocity": [
                -0.7799157500267029,
                5.258575439453125,
                0.09549987316131592
            ],
            "speed_kmh": 19.14103596311124,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.756115913391113,
                "transform": {
                    "location": {
                        "x": 973.8652954101562,
                        "y": 3358.89111328125,
                        "z": 369.7301025390625
                    },
                    "rotation": {
                        "roll": -0.012481706216931343,
                        "pitch": -0.7455082535743713,
                        "yaw": -80.47489929199219
                    }
                },
                "velocity": {
                    "x": 1.1482759714126587,
                    "y": -6.657083034515381,
                    "z": -0.09904231131076813
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.834117889404297,
                "transform": {
                    "location": {
                        "x": 970.647705078125,
                        "y": 3358.448974609375,
                        "z": 369.7301330566406
                    },
                    "rotation": {
                        "roll": -0.011871367692947388,
                        "pitch": -0.7260763645172119,
                        "yaw": -80.4312515258789
                    }
                },
                "velocity": {
                    "x": 1.1605671644210815,
                    "y": -6.734170436859131,
                    "z": -0.09589796513319016
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.316954612731934,
                "transform": {
                    "location": {
                        "x": 971.8021850585938,
                        "y": 3308.9013671875,
                        "z": 368.9999084472656
                    },
                    "rotation": {
                        "roll": 0.009607354179024696,
                        "pitch": 0.9156414270401001,
                        "yaw": 98.17595672607422
                    }
                },
                "velocity": {
                    "x": -0.7799157500267029,
                    "y": 5.258575439453125,
                    "z": 0.09549987316131592
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.384761333465576,
                "transform": {
                    "location": {
                        "x": 969.6241455078125,
                        "y": 3323.6279296875,
                        "z": 369.2381286621094
                    },
                    "rotation": {
                        "roll": -0.0017699890304356813,
                        "pitch": 1.487553596496582,
                        "yaw": 99.58214569091797
                    }
                },
                "velocity": {
                    "x": -0.9070686101913452,
                    "y": 5.3070969581604,
                    "z": 0.08721992373466492
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.974989414215088,
                "transform": {
                    "location": {
                        "x": 978.7667236328125,
                        "y": 3265.1923828125,
                        "z": 368.0738220214844
                    },
                    "rotation": {
                        "roll": 0.01120578683912754,
                        "pitch": 1.4810513257980347,
                        "yaw": 92.73539733886719
                    }
                },
                "velocity": {
                    "x": -0.29553091526031494,
                    "y": 5.966157913208008,
                    "z": 0.1346305012702942
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.4192214012146,
                "transform": {
                    "location": {
                        "x": 977.9769897460938,
                        "y": 3280.080810546875,
                        "z": 368.41143798828125
                    },
                    "rotation": {
                        "roll": 0.009106302633881569,
                        "pitch": 1.3748828172683716,
                        "yaw": 94.59571838378906
                    }
                },
                "velocity": {
                    "x": -0.44287633895874023,
                    "y": 5.399807453155518,
                    "z": 0.11790110915899277
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.157609462738037,
                "transform": {
                    "location": {
                        "x": 975.02734375,
                        "y": 3309.30615234375,
                        "z": 368.99945068359375
                    },
                    "rotation": {
                        "roll": 0.00953354500234127,
                        "pitch": 0.9153204560279846,
                        "yaw": 98.18394470214844
                    }
                },
                "velocity": {
                    "x": -0.7557323575019836,
                    "y": 5.101104259490967,
                    "z": 0.09241626411676407
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.475981712341309,
                "transform": {
                    "location": {
                        "x": 972.7492065429688,
                        "y": 3324.6298828125,
                        "z": 369.2515869140625
                    },
                    "rotation": {
                        "roll": 0.004556847270578146,
                        "pitch": 1.0310852527618408,
                        "yaw": 99.66209411621094
                    }
                },
                "velocity": {
                    "x": -0.922649085521698,
                    "y": 5.396982192993164,
                    "z": 0.08763522654771805
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08797819167375565,
        "expert_target_speed": 2.04479185454448,
        "target_point": [
            51.530604858674145,
            2.407502124921094
        ],
        "target_point_next": [
            102.41926140749366,
            5.774938660852641
        ]
    },
    "40": {
        "acceleration": [
            -0.2522706985473633,
            2.2961878776550293,
            0.054612718522548676
        ],
        "angular_velocity": [
            -0.05925753712654114,
            0.029715897515416145,
            -0.4887830317020416
        ],
        "forward_vector": [
            -0.09415343403816223,
            0.9952203631401062,
            0.025913791730999947
        ],
        "right_vector": [
            -0.9955543279647827,
            -0.09418903291225433,
            0.0001538814976811409
        ],
        "location": [
            973.8382568359375,
            3291.449951171875,
            368.654296875
        ],
        "rotation": [
            -0.008819721639156342,
            1.484917163848877,
            95.4044189453125
        ],
        "velocity": [
            -0.14426478743553162,
            1.4814776182174683,
            0.029981574043631554
        ],
        "speed": 1.4884852240358726,
        "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": 18.92471694946289,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                971.6046752929688,
                3310.23876953125,
                369.02349853515625
            ],
            "velocity": [
                -0.8438699841499329,
                5.676973342895508,
                0.09928100556135178
            ],
            "speed_kmh": 20.664752475409,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.582064151763916,
                "transform": {
                    "location": {
                        "x": 976.153076171875,
                        "y": 3276.53857421875,
                        "z": 368.4179992675781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2882555723190308,
                        "yaw": 99.8551025390625
                    }
                },
                "velocity": {
                    "x": -0.14923545718193054,
                    "y": 0.859056293964386,
                    "z": -2.430392265319824
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.840985298156738,
                "transform": {
                    "location": {
                        "x": 974.1536254882812,
                        "y": 3357.2158203125,
                        "z": 369.70648193359375
                    },
                    "rotation": {
                        "roll": -0.012054398655891418,
                        "pitch": -0.7314722537994385,
                        "yaw": -80.23723602294922
                    }
                },
                "velocity": {
                    "x": 1.1704747676849365,
                    "y": -6.739471435546875,
                    "z": -0.09270648658275604
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.780214309692383,
                "transform": {
                    "location": {
                        "x": 970.9359130859375,
                        "y": 3356.772216796875,
                        "z": 369.7073059082031
                    },
                    "rotation": {
                        "roll": -0.009002645500004292,
                        "pitch": -0.7263495922088623,
                        "yaw": -80.24566650390625
                    }
                },
                "velocity": {
                    "x": 1.1560677289962769,
                    "y": -6.680307865142822,
                    "z": -0.09110988676548004
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.740209102630615,
                "transform": {
                    "location": {
                        "x": 971.6046752929688,
                        "y": 3310.23876953125,
                        "z": 369.02349853515625
                    },
                    "rotation": {
                        "roll": 0.00786583125591278,
                        "pitch": 0.9503661394119263,
                        "yaw": 98.2953109741211
                    }
                },
                "velocity": {
                    "x": -0.8438699841499329,
                    "y": 5.676973342895508,
                    "z": 0.09928100556135178
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.046053409576416,
                "transform": {
                    "location": {
                        "x": 969.395263671875,
                        "y": 3324.967529296875,
                        "z": 369.2607421875
                    },
                    "rotation": {
                        "roll": 0.0029802965000271797,
                        "pitch": 1.2710981369018555,
                        "yaw": 99.66877746582031
                    }
                },
                "velocity": {
                    "x": -1.020900845527649,
                    "y": 5.958445072174072,
                    "z": 0.09723106026649475
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.979902744293213,
                "transform": {
                    "location": {
                        "x": 978.692138671875,
                        "y": 3266.678466796875,
                        "z": 368.1074523925781
                    },
                    "rotation": {
                        "roll": 0.007636487018316984,
                        "pitch": 1.3764128684997559,
                        "yaw": 92.8478775024414
                    }
                },
                "velocity": {
                    "x": -0.30146852135658264,
                    "y": 5.970717430114746,
                    "z": 0.1374325156211853
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.069025039672852,
                "transform": {
                    "location": {
                        "x": 977.8538208007812,
                        "y": 3281.57080078125,
                        "z": 368.4444580078125
                    },
                    "rotation": {
                        "roll": 0.007750649470835924,
                        "pitch": 1.4994040727615356,
                        "yaw": 94.70738983154297
                    }
                },
                "velocity": {
                    "x": -0.5846925973892212,
                    "y": 7.043085098266602,
                    "z": 0.1555606573820114
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.799509048461914,
                "transform": {
                    "location": {
                        "x": 974.8291015625,
                        "y": 3310.650146484375,
                        "z": 369.0231018066406
                    },
                    "rotation": {
                        "roll": 0.010499139316380024,
                        "pitch": 0.9375595450401306,
                        "yaw": 98.33987426757812
                    }
                },
                "velocity": {
                    "x": -0.851730227470398,
                    "y": 5.735767841339111,
                    "z": 0.099138543009758
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.113166809082031,
                "transform": {
                    "location": {
                        "x": 972.4942626953125,
                        "y": 3326.11865234375,
                        "z": 369.27587890625
                    },
                    "rotation": {
                        "roll": 0.007808150723576546,
                        "pitch": 1.1663981676101685,
                        "yaw": 99.70906066894531
                    }
                },
                "velocity": {
                    "x": -1.2011394500732422,
                    "y": 7.010095596313477,
                    "z": 0.1138441413640976
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08453608304262161,
        "expert_target_speed": 2.6606264432374434,
        "target_point": [
            51.23094059414005,
            2.3643104061664495
        ],
        "target_point_next": [
            102.1223878474816,
            5.689305237379436
        ]
    },
    "45": {
        "acceleration": [
            -0.4175299406051636,
            4.169430732727051,
            0.10375633835792542
        ],
        "angular_velocity": [
            0.4044628441333771,
            0.04291006922721863,
            1.0476446151733398
        ],
        "forward_vector": [
            -0.09526318311691284,
            0.9950903654098511,
            0.026833530515432358
        ],
        "right_vector": [
            -0.9954484105110168,
            -0.09530211240053177,
            0.0001725098118185997
        ],
        "location": [
            973.7916259765625,
            3291.925537109375,
            368.6637878417969
        ],
        "rotation": [
            -0.009887644089758396,
            1.5376325845718384,
            95.46844482421875
        ],
        "velocity": [
            -0.23441508412361145,
            2.3663411140441895,
            0.04876153916120529
        ],
        "speed": 2.377923610985133,
        "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": 19.969219207763672,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                971.38037109375,
                3311.744873046875,
                369.0504150390625
            ],
            "velocity": [
                -1.029909372329712,
                6.8070597648620605,
                0.11999978870153427
            ],
            "speed_kmh": 24.788078581315812,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.15512166917324066,
                "transform": {
                    "location": {
                        "x": 976.1520385742188,
                        "y": 3276.54833984375,
                        "z": 368.2996520996094
                    },
                    "rotation": {
                        "roll": 0.15739759802818298,
                        "pitch": 1.227863073348999,
                        "yaw": 99.84445190429688
                    }
                },
                "velocity": {
                    "x": 0.0011001877719536424,
                    "y": -0.004307222086936235,
                    "z": 0.15505795180797577
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.730588436126709,
                "transform": {
                    "location": {
                        "x": 974.4177856445312,
                        "y": 3355.673583984375,
                        "z": 369.6864318847656
                    },
                    "rotation": {
                        "roll": -0.00201412639580667,
                        "pitch": -0.8230855464935303,
                        "yaw": -80.32170104980469
                    }
                },
                "velocity": {
                    "x": 0.9473456144332886,
                    "y": -5.651233196258545,
                    "z": -0.07579248398542404
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.57996940612793,
                "transform": {
                    "location": {
                        "x": 971.190185546875,
                        "y": 3355.2861328125,
                        "z": 369.6880798339844
                    },
                    "rotation": {
                        "roll": -0.00405882578343153,
                        "pitch": -0.8173481822013855,
                        "yaw": -80.31010437011719
                    }
                },
                "velocity": {
                    "x": 0.9229026436805725,
                    "y": -5.502649307250977,
                    "z": -0.0718308612704277
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.88557767868042,
                "transform": {
                    "location": {
                        "x": 971.38037109375,
                        "y": 3311.744873046875,
                        "z": 369.0504150390625
                    },
                    "rotation": {
                        "roll": 0.011209829710423946,
                        "pitch": 0.8736084699630737,
                        "yaw": 98.40624237060547
                    }
                },
                "velocity": {
                    "x": -1.029909372329712,
                    "y": 6.8070597648620605,
                    "z": 0.11999978870153427
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.3690385818481445,
                "transform": {
                    "location": {
                        "x": 969.1105346679688,
                        "y": 3326.647705078125,
                        "z": 369.28717041015625
                    },
                    "rotation": {
                        "roll": 0.03035854920744896,
                        "pitch": 1.477745532989502,
                        "yaw": 99.6007080078125
                    }
                },
                "velocity": {
                    "x": -1.216164469718933,
                    "y": 7.2670416831970215,
                    "z": 0.1173766478896141
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4324309825897217,
                "transform": {
                    "location": {
                        "x": 978.6360473632812,
                        "y": 3267.75927734375,
                        "z": 368.13116455078125
                    },
                    "rotation": {
                        "roll": 0.009637349285185337,
                        "pitch": 0.7771730422973633,
                        "yaw": 92.9418716430664
                    }
                },
                "velocity": {
                    "x": -0.0747198611497879,
                    "y": 1.430127501487732,
                    "z": 0.03179267793893814
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.306242942810059,
                "transform": {
                    "location": {
                        "x": 977.6897583007812,
                        "y": 3283.504638671875,
                        "z": 368.4863586425781
                    },
                    "rotation": {
                        "roll": 0.003327691461890936,
                        "pitch": 1.452480673789978,
                        "yaw": 94.80921936035156
                    }
                },
                "velocity": {
                    "x": -0.7049583196640015,
                    "y": 8.274343490600586,
                    "z": 0.17872846126556396
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.043292999267578,
                "transform": {
                    "location": {
                        "x": 974.6029663085938,
                        "y": 3312.164306640625,
                        "z": 369.0500183105469
                    },
                    "rotation": {
                        "roll": 0.01147580984979868,
                        "pitch": 0.855501651763916,
                        "yaw": 98.38630676269531
                    }
                },
                "velocity": {
                    "x": -1.0524828433990479,
                    "y": 6.963169574737549,
                    "z": 0.12052275985479355
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.7877397537231445,
                "transform": {
                    "location": {
                        "x": 972.1993408203125,
                        "y": 3327.874267578125,
                        "z": 369.3039855957031
                    },
                    "rotation": {
                        "roll": 0.010418395511806011,
                        "pitch": 0.9383108615875244,
                        "yaw": 99.37828063964844
                    }
                },
                "velocity": {
                    "x": -1.120324969291687,
                    "y": 6.693807601928711,
                    "z": 0.1059308797121048
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08312735706567764,
        "expert_target_speed": 3.5443104441339224,
        "target_point": [
            50.75568482469203,
            2.305975879019745
        ],
        "target_point_next": [
            101.6508150980547,
            5.574111222710696
        ]
    },
    "50": {
        "acceleration": [
            -0.6004661321640015,
            5.645337104797363,
            0.10347053408622742
        ],
        "angular_velocity": [
            0.5635040998458862,
            0.04463287070393562,
            0.4335443675518036
        ],
        "forward_vector": [
            -0.09692863374948502,
            0.994862973690033,
            0.02919735573232174
        ],
        "right_vector": [
            -0.9952867031097412,
            -0.09697605669498444,
            0.00020923650299664587
        ],
        "location": [
            973.7166137695312,
            3292.678466796875,
            368.6787109375
        ],
        "rotation": [
            -0.011993481777608395,
            1.6731230020523071,
            95.56471252441406
        ],
        "velocity": [
            -0.3696065843105316,
            3.6582982540130615,
            0.07449174672365189
        ],
        "speed": 3.6769219657861534,
        "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": 21.061256408691406,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                971.1046752929688,
                3313.5732421875,
                369.08203125
            ],
            "velocity": [
                -1.1184146404266357,
                7.381358623504639,
                0.1267716884613037
            ],
            "speed_kmh": 26.88006421811937,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.056501004844903946,
                "transform": {
                    "location": {
                        "x": 976.1520385742188,
                        "y": 3276.5478515625,
                        "z": 368.32745361328125
                    },
                    "rotation": {
                        "roll": 0.14626511931419373,
                        "pitch": 1.2797861099243164,
                        "yaw": 99.8442611694336
                    }
                },
                "velocity": {
                    "x": 0.0005225716158747673,
                    "y": -0.0015061204321682453,
                    "z": 0.056478507816791534
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.8459343910217285,
                "transform": {
                    "location": {
                        "x": 974.6526489257812,
                        "y": 3354.275634765625,
                        "z": 369.6671447753906
                    },
                    "rotation": {
                        "roll": -0.003601089119911194,
                        "pitch": -0.770506739616394,
                        "yaw": -80.43389129638672
                    }
                },
                "velocity": {
                    "x": 0.9635688066482544,
                    "y": -5.765460014343262,
                    "z": -0.07720264047384262
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.112927436828613,
                "transform": {
                    "location": {
                        "x": 971.4285888671875,
                        "y": 3353.8642578125,
                        "z": 369.66845703125
                    },
                    "rotation": {
                        "roll": -0.005188082344830036,
                        "pitch": -0.7526184916496277,
                        "yaw": -80.40848541259766
                    }
                },
                "velocity": {
                    "x": 1.0055702924728394,
                    "y": -6.029111862182617,
                    "z": -0.08074630796909332
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.466684341430664,
                "transform": {
                    "location": {
                        "x": 971.1046752929688,
                        "y": 3313.5732421875,
                        "z": 369.08203125
                    },
                    "rotation": {
                        "roll": 0.005395420361310244,
                        "pitch": 0.8996793031692505,
                        "yaw": 98.54326629638672
                    }
                },
                "velocity": {
                    "x": -1.1184146404266357,
                    "y": 7.381358623504639,
                    "z": 0.1267716884613037
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.249022483825684,
                "transform": {
                    "location": {
                        "x": 968.8082885742188,
                        "y": 3328.457763671875,
                        "z": 369.3172912597656
                    },
                    "rotation": {
                        "roll": 0.024122128263115883,
                        "pitch": 1.121803879737854,
                        "yaw": 99.47860717773438
                    }
                },
                "velocity": {
                    "x": -1.188897728919983,
                    "y": 7.149955749511719,
                    "z": 0.11392520368099213
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.004680218640714884,
                "transform": {
                    "location": {
                        "x": 978.6343383789062,
                        "y": 3267.791259765625,
                        "z": 368.1321716308594
                    },
                    "rotation": {
                        "roll": 0.013817419297993183,
                        "pitch": 0.9817713499069214,
                        "yaw": 92.94229888916016
                    }
                },
                "velocity": {
                    "x": -0.00022369193902704865,
                    "y": -0.0041429451666772366,
                    "z": 0.002165735699236393
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.444892883300781,
                "transform": {
                    "location": {
                        "x": 977.5006713867188,
                        "y": 3285.717529296875,
                        "z": 368.5338439941406
                    },
                    "rotation": {
                        "roll": 0.0020964904688298702,
                        "pitch": 1.4116907119750977,
                        "yaw": 94.84992980957031
                    }
                },
                "velocity": {
                    "x": -0.8062121272087097,
                    "y": 9.408296585083008,
                    "z": 0.19994160532951355
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.3201494216918945,
                "transform": {
                    "location": {
                        "x": 974.3271484375,
                        "y": 3313.9970703125,
                        "z": 369.08111572265625
                    },
                    "rotation": {
                        "roll": 0.008874813094735146,
                        "pitch": 0.909063994884491,
                        "yaw": 98.57159423828125
                    }
                },
                "velocity": {
                    "x": -1.0972384214401245,
                    "y": 7.236408710479736,
                    "z": 0.12266255915164948
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.241824626922607,
                "transform": {
                    "location": {
                        "x": 971.9373779296875,
                        "y": 3329.45458984375,
                        "z": 369.3290100097656
                    },
                    "rotation": {
                        "roll": 0.0081340866163373,
                        "pitch": 0.8422852158546448,
                        "yaw": 99.13928985595703
                    }
                },
                "velocity": {
                    "x": -1.0121744871139526,
                    "y": 6.158421516418457,
                    "z": 0.09861060976982117
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07936650514602661,
        "expert_target_speed": 4.811007887408701,
        "target_point": [
            50.002835418351964,
            2.2189776949009694
        ],
        "target_point_next": [
            100.9033893180085,
            5.401524925563786
        ]
    },
    "55": {
        "acceleration": [
            -0.5486416816711426,
            4.8844146728515625,
            0.07919088006019592
        ],
        "angular_velocity": [
            0.03369925171136856,
            0.04648302495479584,
            0.6709679961204529
        ],
        "forward_vector": [
            -0.09951643645763397,
            0.9945799112319946,
            0.030122367665171623
        ],
        "right_vector": [
            -0.9950304627418518,
            -0.09957048296928406,
            0.00029600784182548523
        ],
        "location": [
            973.606689453125,
            3293.758056640625,
            368.7003479003906
        ],
        "rotation": [
            -0.01696769893169403,
            1.7261457443237305,
            95.71392822265625
        ],
        "velocity": [
            -0.5070803165435791,
            4.907155513763428,
            0.09838657081127167
        ],
        "speed": 4.933285485727007,
        "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": 21.7574520111084,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                970.8380126953125,
                3315.334716796875,
                369.111328125
            ],
            "velocity": [
                -1.0317208766937256,
                6.800626754760742,
                0.11560254544019699
            ],
            "speed_kmh": 24.76589018808677,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.010499992407858372,
                "transform": {
                    "location": {
                        "x": 976.152099609375,
                        "y": 3276.5478515625,
                        "z": 368.333984375
                    },
                    "rotation": {
                        "roll": 0.14362496137619019,
                        "pitch": 1.2920122146606445,
                        "yaw": 99.84394836425781
                    }
                },
                "velocity": {
                    "x": -3.9183010812848806e-05,
                    "y": -0.0003600907220970839,
                    "z": 0.010493743233382702
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.437924861907959,
                "transform": {
                    "location": {
                        "x": 974.9137573242188,
                        "y": 3352.713134765625,
                        "z": 369.6455078125
                    },
                    "rotation": {
                        "roll": -0.003417972242459655,
                        "pitch": -0.6740713119506836,
                        "yaw": -80.45381164550781
                    }
                },
                "velocity": {
                    "x": 1.225169062614441,
                    "y": -7.335663795471191,
                    "z": -0.09862971305847168
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.962597846984863,
                "transform": {
                    "location": {
                        "x": 971.70703125,
                        "y": 3352.19677734375,
                        "z": 369.6452941894531
                    },
                    "rotation": {
                        "roll": -0.005737300030887127,
                        "pitch": -0.6495031714439392,
                        "yaw": -80.47100067138672
                    }
                },
                "velocity": {
                    "x": 1.3091731071472168,
                    "y": -7.853523254394531,
                    "z": -0.1058487519621849
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.879414081573486,
                "transform": {
                    "location": {
                        "x": 970.8380126953125,
                        "y": 3315.334716796875,
                        "z": 369.111328125
                    },
                    "rotation": {
                        "roll": 0.003064120886847377,
                        "pitch": 0.9940998554229736,
                        "yaw": 98.59813690185547
                    }
                },
                "velocity": {
                    "x": -1.0317208766937256,
                    "y": 6.800626754760742,
                    "z": 0.11560254544019699
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.908231258392334,
                "transform": {
                    "location": {
                        "x": 968.5009155273438,
                        "y": 3330.307373046875,
                        "z": 369.3466796875
                    },
                    "rotation": {
                        "roll": 0.015635140240192413,
                        "pitch": 1.1174734830856323,
                        "yaw": 99.43120574951172
                    }
                },
                "velocity": {
                    "x": -1.2934942245483398,
                    "y": 7.800782203674316,
                    "z": 0.12162339687347412
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001594712259247899,
                "transform": {
                    "location": {
                        "x": 978.63427734375,
                        "y": 3267.792724609375,
                        "z": 368.1325988769531
                    },
                    "rotation": {
                        "roll": 0.012613831087946892,
                        "pitch": 1.240177869796753,
                        "yaw": 92.94241333007812
                    }
                },
                "velocity": {
                    "x": -0.00017656112322583795,
                    "y": -0.0010622198460623622,
                    "z": 0.001176274847239256
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.592185020446777,
                "transform": {
                    "location": {
                        "x": 977.2799682617188,
                        "y": 3288.2197265625,
                        "z": 368.5866394042969
                    },
                    "rotation": {
                        "roll": -0.01708981581032276,
                        "pitch": 1.3866170644760132,
                        "yaw": 95.14122009277344
                    }
                },
                "velocity": {
                    "x": -0.9585562944412231,
                    "y": 10.546426773071289,
                    "z": 0.22007158398628235
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.373235702514648,
                "transform": {
                    "location": {
                        "x": 974.0723266601562,
                        "y": 3315.677978515625,
                        "z": 369.1087341308594
                    },
                    "rotation": {
                        "roll": 0.0021120423916727304,
                        "pitch": 1.0283942222595215,
                        "yaw": 98.57329559326172
                    }
                },
                "velocity": {
                    "x": -0.9532858729362488,
                    "y": 6.300634860992432,
                    "z": 0.10668285191059113
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.126974105834961,
                "transform": {
                    "location": {
                        "x": 971.6692504882812,
                        "y": 3331.09423828125,
                        "z": 369.3550720214844
                    },
                    "rotation": {
                        "roll": 0.0033685187809169292,
                        "pitch": 0.9757607579231262,
                        "yaw": 99.08999633789062
                    }
                },
                "velocity": {
                    "x": -1.14905846118927,
                    "y": 7.032870292663574,
                    "z": 0.11028619855642319
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07601041346788406,
        "expert_target_speed": 5.996472341187164,
        "target_point": [
            48.92327109309162,
            2.08694156972385
        ],
        "target_point_next": [
            99.83193542327272,
            5.137005550066794
        ]
    },
    "60": {
        "acceleration": [
            0.013834238052368164,
            -0.41805267333984375,
            -0.03553956747055054
        ],
        "angular_velocity": [
            -1.5448466539382935,
            -0.22521653771400452,
            0.6337031126022339
        ],
        "forward_vector": [
            -0.1021851897239685,
            0.9944014549255371,
            0.026906339451670647
        ],
        "right_vector": [
            -0.9947605133056641,
            -0.10223203897476196,
            0.00036791618913412094
        ],
        "location": [
            973.4680786132812,
            3295.086181640625,
            368.7279968261719
        ],
        "rotation": [
            -0.021087678149342537,
            1.5418058633804321,
            95.86714935302734
        ],
        "velocity": [
            -0.5713514685630798,
            5.401371955871582,
            0.10690318793058395
        ],
        "speed": 5.431506375427095,
        "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": 22.183130264282227,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                970.5709838867188,
                3317.075439453125,
                369.1410827636719
            ],
            "velocity": [
                -1.135547399520874,
                7.261229515075684,
                0.12056676298379898
            ],
            "speed_kmh": 26.461704021416615,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001687763724476099,
                "transform": {
                    "location": {
                        "x": 976.152099609375,
                        "y": 3276.5478515625,
                        "z": 368.3348388671875
                    },
                    "rotation": {
                        "roll": 0.1433386355638504,
                        "pitch": 1.2945393323898315,
                        "yaw": 99.84358215332031
                    }
                },
                "velocity": {
                    "x": 0.00011399378854548559,
                    "y": -0.00013893558934796602,
                    "z": 0.001678168191574514
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.445079803466797,
                "transform": {
                    "location": {
                        "x": 975.2504272460938,
                        "y": 3350.6923828125,
                        "z": 369.6184387207031
                    },
                    "rotation": {
                        "roll": 0.00026346120284870267,
                        "pitch": -0.6824656128883362,
                        "yaw": -80.55240631103516
                    }
                },
                "velocity": {
                    "x": 1.3703759908676147,
                    "y": -8.332406044006348,
                    "z": -0.11156720668077469
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.307310104370117,
                "transform": {
                    "location": {
                        "x": 972.050048828125,
                        "y": 3350.13525390625,
                        "z": 369.61810302734375
                    },
                    "rotation": {
                        "roll": -0.0005493922508321702,
                        "pitch": -0.711022675037384,
                        "yaw": -80.5920181274414
                    }
                },
                "velocity": {
                    "x": 1.34561288356781,
                    "y": -8.19686222076416,
                    "z": -0.11032342910766602
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.350473403930664,
                "transform": {
                    "location": {
                        "x": 970.5709838867188,
                        "y": 3317.075439453125,
                        "z": 369.1410827636719
                    },
                    "rotation": {
                        "roll": 0.006453113630414009,
                        "pitch": 0.9167820811271667,
                        "yaw": 98.71937561035156
                    }
                },
                "velocity": {
                    "x": -1.135547399520874,
                    "y": 7.261229515075684,
                    "z": 0.12056676298379898
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.263835906982422,
                "transform": {
                    "location": {
                        "x": 968.1658325195312,
                        "y": 3332.342041015625,
                        "z": 369.37841796875
                    },
                    "rotation": {
                        "roll": 0.023507049307227135,
                        "pitch": 1.1247408390045166,
                        "yaw": 99.33575439453125
                    }
                },
                "velocity": {
                    "x": -1.3341424465179443,
                    "y": 8.154449462890625,
                    "z": 0.1264886111021042
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011627345811575651,
                "transform": {
                    "location": {
                        "x": 978.63427734375,
                        "y": 3267.79296875,
                        "z": 368.1327209472656
                    },
                    "rotation": {
                        "roll": 0.013534320518374443,
                        "pitch": 1.2935011386871338,
                        "yaw": 92.9425277709961
                    }
                },
                "velocity": {
                    "x": 0.00011408296268200502,
                    "y": -0.0002993936650454998,
                    "z": 0.0011177209671586752
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.431269645690918,
                "transform": {
                    "location": {
                        "x": 977.0286254882812,
                        "y": 3290.93115234375,
                        "z": 368.6427917480469
                    },
                    "rotation": {
                        "roll": -0.01354990340769291,
                        "pitch": 1.3324400186538696,
                        "yaw": 95.36672973632812
                    }
                },
                "velocity": {
                    "x": -1.067331314086914,
                    "y": 11.378934860229492,
                    "z": 0.23359327018260956
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.338805198669434,
                "transform": {
                    "location": {
                        "x": 973.8477783203125,
                        "y": 3317.14990234375,
                        "z": 369.13299560546875
                    },
                    "rotation": {
                        "roll": 0.010927367024123669,
                        "pitch": 1.0512070655822754,
                        "yaw": 98.85868072509766
                    }
                },
                "velocity": {
                    "x": -0.8288120627403259,
                    "y": 5.273355007171631,
                    "z": 0.08739995956420898
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.218851089477539,
                "transform": {
                    "location": {
                        "x": 971.3611450195312,
                        "y": 3332.994873046875,
                        "z": 369.3848876953125
                    },
                    "rotation": {
                        "roll": 0.0013508973643183708,
                        "pitch": 1.0517125129699707,
                        "yaw": 99.09833526611328
                    }
                },
                "velocity": {
                    "x": -1.3148000240325928,
                    "y": 8.112011909484863,
                    "z": 0.12676376104354858
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07509106397628784,
        "expert_target_speed": 6.451785861679474,
        "target_point": [
            47.59334188348209,
            1.9539418706763056
        ],
        "target_point_next": [
            98.50998314804319,
            4.86781154916781
        ]
    },
    "65": {
        "acceleration": [
            -0.6960058212280273,
            5.505247116088867,
            0.11567056179046631
        ],
        "angular_velocity": [
            0.7080714106559753,
            0.15393096208572388,
            0.9229915738105774
        ],
        "forward_vector": [
            -0.10560524463653564,
            0.9939969182014465,
            0.028593335300683975
        ],
        "right_vector": [
            -0.9944020509719849,
            -0.10566142201423645,
            0.0004568108997773379
        ],
        "location": [
            973.30810546875,
            3296.580322265625,
            368.7571105957031
        ],
        "rotation": [
            -0.026184044778347015,
            1.6385008096694946,
            96.06452941894531
        ],
        "velocity": [
            -0.73661208152771,
            6.760276794433594,
            0.13239164650440216
        ],
        "speed": 6.8002896773600705,
        "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": 22.602384567260742,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                970.274658203125,
                3318.974365234375,
                369.1728820800781
            ],
            "velocity": [
                -1.2190284729003906,
                7.775120735168457,
                0.12746280431747437
            ],
            "speed_kmh": 28.33608907406807,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3029296398162842,
                "transform": {
                    "location": {
                        "x": 976.1571044921875,
                        "y": 3276.69970703125,
                        "z": 368.3386535644531
                    },
                    "rotation": {
                        "roll": 0.20531035959720612,
                        "pitch": 1.4534436464309692,
                        "yaw": 98.51656341552734
                    }
                },
                "velocity": {
                    "x": 0.038447074592113495,
                    "y": 1.3020129203796387,
                    "z": 0.03016044571995735
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.889239311218262,
                "transform": {
                    "location": {
                        "x": 975.5810546875,
                        "y": 3348.681396484375,
                        "z": 369.5919189453125
                    },
                    "rotation": {
                        "roll": -0.0007629698957316577,
                        "pitch": -0.7751171588897705,
                        "yaw": -80.67921447753906
                    }
                },
                "velocity": {
                    "x": 1.2734636068344116,
                    "y": -7.785010814666748,
                    "z": -0.10951894521713257
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.8635358810424805,
                "transform": {
                    "location": {
                        "x": 972.375,
                        "y": 3348.155029296875,
                        "z": 369.59173583984375
                    },
                    "rotation": {
                        "roll": -0.0009154904400929809,
                        "pitch": -0.781004786491394,
                        "yaw": -80.67118835449219
                    }
                },
                "velocity": {
                    "x": 1.2701367139816284,
                    "y": -7.759520053863525,
                    "z": -0.10860848426818848
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.871135711669922,
                "transform": {
                    "location": {
                        "x": 970.274658203125,
                        "y": 3318.974365234375,
                        "z": 369.1728820800781
                    },
                    "rotation": {
                        "roll": 0.0016392214456573129,
                        "pitch": 0.871265709400177,
                        "yaw": 98.84892272949219
                    }
                },
                "velocity": {
                    "x": -1.2190284729003906,
                    "y": 7.775120735168457,
                    "z": 0.12746280431747437
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.818212509155273,
                "transform": {
                    "location": {
                        "x": 967.8438110351562,
                        "y": 3334.3125,
                        "z": 369.41021728515625
                    },
                    "rotation": {
                        "roll": 0.014446111395955086,
                        "pitch": 0.8515879511833191,
                        "yaw": 99.27281951904297
                    }
                },
                "velocity": {
                    "x": -1.2579128742218018,
                    "y": 7.715398788452148,
                    "z": 0.12134620547294617
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010190709726884961,
                "transform": {
                    "location": {
                        "x": 978.63427734375,
                        "y": 3267.79296875,
                        "z": 368.13275146484375
                    },
                    "rotation": {
                        "roll": 0.013067062012851238,
                        "pitch": 1.3106653690338135,
                        "yaw": 92.94261932373047
                    }
                },
                "velocity": {
                    "x": 1.3676964954356663e-05,
                    "y": -0.00010098114580614492,
                    "z": 0.0010139632504433393
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.875518798828125,
                "transform": {
                    "location": {
                        "x": 976.753662109375,
                        "y": 3293.745849609375,
                        "z": 368.69964599609375
                    },
                    "rotation": {
                        "roll": -0.026641855016350746,
                        "pitch": 1.124488115310669,
                        "yaw": 95.74217987060547
                    }
                },
                "velocity": {
                    "x": -1.0883853435516357,
                    "y": 10.818735122680664,
                    "z": 0.21749502420425415
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.281798839569092,
                "transform": {
                    "location": {
                        "x": 973.645263671875,
                        "y": 3318.443359375,
                        "z": 369.15521240234375
                    },
                    "rotation": {
                        "roll": 0.0015203030779957771,
                        "pitch": 0.9578930139541626,
                        "yaw": 98.86650085449219
                    }
                },
                "velocity": {
                    "x": -0.8160887956619263,
                    "y": 5.21766996383667,
                    "z": 0.08555331826210022
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.139044761657715,
                "transform": {
                    "location": {
                        "x": 971.0285034179688,
                        "y": 3335.040283203125,
                        "z": 369.416748046875
                    },
                    "rotation": {
                        "roll": -0.0025939904153347015,
                        "pitch": 0.9179022312164307,
                        "yaw": 99.13107299804688
                    }
                },
                "velocity": {
                    "x": -1.309993863105774,
                    "y": 8.031949996948242,
                    "z": 0.125488743185997
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07225888967514038,
        "expert_target_speed": 7.637146317380185,
        "target_point": [
            46.09711012081503,
            1.7887747108553853
        ],
        "target_point_next": [
            97.02348595475075,
            4.527248480670565
        ]
    },
    "70": {
        "acceleration": [
            -0.5673670768737793,
            3.9001083374023438,
            0.051939189434051514
        ],
        "angular_velocity": [
            -0.3012266159057617,
            -0.032780345529317856,
            0.9859709143638611
        ],
        "forward_vector": [
            -0.10981450974941254,
            0.9934942722320557,
            0.030162883922457695
        ],
        "right_vector": [
            -0.9939440488815308,
            -0.10988511890172958,
            0.0006883804453536868
        ],
        "location": [
            973.1012573242188,
            3298.451171875,
            368.79345703125
        ],
        "rotation": [
            -0.03945925459265709,
            1.7284680604934692,
            96.30750274658203
        ],
        "velocity": [
            -0.9124481678009033,
            8.086163520812988,
            0.15759195387363434
        ],
        "speed": 8.137481314525393,
        "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": 22.65550994873047,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                969.9752197265625,
                3320.88623046875,
                369.20361328125
            ],
            "velocity": [
                -1.1402506828308105,
                7.266951084136963,
                0.11892058700323105
            ],
            "speed_kmh": 26.48457433173007,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3336093425750732,
                "transform": {
                    "location": {
                        "x": 976.1763916015625,
                        "y": 3277.153564453125,
                        "z": 368.3489074707031
                    },
                    "rotation": {
                        "roll": 0.1292908787727356,
                        "pitch": 1.4593381881713867,
                        "yaw": 95.18067932128906
                    }
                },
                "velocity": {
                    "x": 0.10191783308982849,
                    "y": 2.3308045864105225,
                    "z": 0.051915720105171204
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.068166732788086,
                "transform": {
                    "location": {
                        "x": 975.9005737304688,
                        "y": 3346.72900390625,
                        "z": 369.5643615722656
                    },
                    "rotation": {
                        "roll": -0.000976576004177332,
                        "pitch": -0.8163099884986877,
                        "yaw": -80.71110534667969
                    }
                },
                "velocity": {
                    "x": 1.3024591207504272,
                    "y": -7.961537837982178,
                    "z": -0.11323491483926773
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.125408172607422,
                "transform": {
                    "location": {
                        "x": 972.6969604492188,
                        "y": 3346.1865234375,
                        "z": 369.56396484375
                    },
                    "rotation": {
                        "roll": -0.0010681243147701025,
                        "pitch": -0.8107229471206665,
                        "yaw": -80.74071502685547
                    }
                },
                "velocity": {
                    "x": 1.3070147037506104,
                    "y": -8.018787384033203,
                    "z": -0.11413463950157166
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.356826305389404,
                "transform": {
                    "location": {
                        "x": 969.9752197265625,
                        "y": 3320.88623046875,
                        "z": 369.20361328125
                    },
                    "rotation": {
                        "roll": -0.0025024297647178173,
                        "pitch": 0.9437476992607117,
                        "yaw": 98.89857482910156
                    }
                },
                "velocity": {
                    "x": -1.1402506828308105,
                    "y": 7.266951084136963,
                    "z": 0.11892058700323105
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.102653503417969,
                "transform": {
                    "location": {
                        "x": 967.5250854492188,
                        "y": 3336.26904296875,
                        "z": 369.4404296875
                    },
                    "rotation": {
                        "roll": 0.012392865493893623,
                        "pitch": 0.9423270225524902,
                        "yaw": 99.24430847167969
                    }
                },
                "velocity": {
                    "x": -1.2972412109375,
                    "y": 7.997193813323975,
                    "z": 0.12265151739120483
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00021339442173484713,
                "transform": {
                    "location": {
                        "x": 978.63427734375,
                        "y": 3267.79345703125,
                        "z": 368.13275146484375
                    },
                    "rotation": {
                        "roll": 0.013340253382921219,
                        "pitch": 1.3140736818313599,
                        "yaw": 92.94270324707031
                    }
                },
                "velocity": {
                    "x": 3.275936478530639e-06,
                    "y": -0.00011441886454122141,
                    "z": 0.00018009655468631536
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.937191009521484,
                "transform": {
                    "location": {
                        "x": 976.48583984375,
                        "y": 3296.36181640625,
                        "z": 368.75152587890625
                    },
                    "rotation": {
                        "roll": -0.02014162950217724,
                        "pitch": 1.0029654502868652,
                        "yaw": 95.91387176513672
                    }
                },
                "velocity": {
                    "x": -1.023584008216858,
                    "y": 9.882428169250488,
                    "z": 0.1940593123435974
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.888258934020996,
                "transform": {
                    "location": {
                        "x": 973.4284057617188,
                        "y": 3319.83056640625,
                        "z": 369.1785583496094
                    },
                    "rotation": {
                        "roll": -0.00021362809638958424,
                        "pitch": 0.8697630763053894,
                        "yaw": 98.92736053466797
                    }
                },
                "velocity": {
                    "x": -0.9137924909591675,
                    "y": 5.816140651702881,
                    "z": 0.09529665112495422
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.872653007507324,
                "transform": {
                    "location": {
                        "x": 970.7105102539062,
                        "y": 3336.993896484375,
                        "z": 369.4470520019531
                    },
                    "rotation": {
                        "roll": 0.0014725517248734832,
                        "pitch": 0.8597568273544312,
                        "yaw": 99.0647964477539
                    }
                },
                "velocity": {
                    "x": -1.2580674886703491,
                    "y": 7.770580768585205,
                    "z": 0.11835048347711563
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0646541491150856,
        "expert_target_speed": 8.589961704148042,
        "target_point": [
            44.222030755666005,
            1.5932384031027604
        ],
        "target_point_next": [
            95.15956060952651,
            4.1157463920510455
        ]
    },
    "75": {
        "acceleration": [
            -0.9924626350402832,
            6.900901794433594,
            0.1221466064453125
        ],
        "angular_velocity": [
            0.8690603971481323,
            0.15239007771015167,
            1.2150731086730957
        ],
        "forward_vector": [
            -0.11461743712425232,
            0.9929606914520264,
            0.029863324016332626
        ],
        "right_vector": [
            -0.993399977684021,
            -0.11469724774360657,
            0.0009673609747551382
        ],
        "location": [
            972.856201171875,
            3300.584228515625,
            368.8346862792969
        ],
        "rotation": [
            -0.0554504431784153,
            1.7112969160079956,
            96.58451080322266
        ],
        "velocity": [
            -1.1016055345535278,
            9.374090194702148,
            0.17990078032016754
        ],
        "speed": 9.438596385701103,
        "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": 22.142606735229492,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                969.7196044921875,
                3322.5,
                369.2293701171875
            ],
            "velocity": [
                -0.978185772895813,
                6.1498236656188965,
                0.1002359390258789
            ],
            "speed_kmh": 22.42058085672511,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.896415948867798,
                "transform": {
                    "location": {
                        "x": 976.2283935546875,
                        "y": 3277.93408203125,
                        "z": 368.3664855957031
                    },
                    "rotation": {
                        "roll": 0.058227285742759705,
                        "pitch": 1.5149426460266113,
                        "yaw": 90.88900756835938
                    }
                },
                "velocity": {
                    "x": 0.28840214014053345,
                    "y": 3.884774684906006,
                    "z": 0.08606591820716858
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.097947120666504,
                "transform": {
                    "location": {
                        "x": 976.2271728515625,
                        "y": 3344.7216796875,
                        "z": 369.5352783203125
                    },
                    "rotation": {
                        "roll": 0.0008121822611428797,
                        "pitch": -0.8215009570121765,
                        "yaw": -80.76746368408203
                    }
                },
                "velocity": {
                    "x": 1.2956607341766357,
                    "y": -7.992772102355957,
                    "z": -0.11666323244571686
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.067428588867188,
                "transform": {
                    "location": {
                        "x": 973.0225830078125,
                        "y": 3344.180908203125,
                        "z": 369.534912109375
                    },
                    "rotation": {
                        "roll": -0.0005493271164596081,
                        "pitch": -0.8271153569221497,
                        "yaw": -80.75957489013672
                    }
                },
                "velocity": {
                    "x": 1.2926687002182007,
                    "y": -7.96234655380249,
                    "z": -0.1159823015332222
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.227939128875732,
                "transform": {
                    "location": {
                        "x": 969.7196044921875,
                        "y": 3322.5,
                        "z": 369.2293701171875
                    },
                    "rotation": {
                        "roll": -0.0012512380490079522,
                        "pitch": 1.006011724472046,
                        "yaw": 98.97870635986328
                    }
                },
                "velocity": {
                    "x": -0.978185772895813,
                    "y": 6.1498236656188965,
                    "z": 0.1002359390258789
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.053614616394043,
                "transform": {
                    "location": {
                        "x": 967.2000732421875,
                        "y": 3338.273681640625,
                        "z": 369.4708251953125
                    },
                    "rotation": {
                        "roll": 0.007385702803730965,
                        "pitch": 0.8716686964035034,
                        "yaw": 99.20527648925781
                    }
                },
                "velocity": {
                    "x": -1.2881144285202026,
                    "y": 7.949045658111572,
                    "z": 0.11892171949148178
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.333773515303619e-05,
                "transform": {
                    "location": {
                        "x": 978.63427734375,
                        "y": 3267.79345703125,
                        "z": 368.13275146484375
                    },
                    "rotation": {
                        "roll": 0.013074133545160294,
                        "pitch": 1.3156514167785645,
                        "yaw": 92.94274139404297
                    }
                },
                "velocity": {
                    "x": -2.3082829159193352e-07,
                    "y": -4.999265001970343e-05,
                    "z": 1.8590204490465112e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.414994239807129,
                "transform": {
                    "location": {
                        "x": 976.231689453125,
                        "y": 3298.720947265625,
                        "z": 368.797607421875
                    },
                    "rotation": {
                        "roll": -0.028808588162064552,
                        "pitch": 1.0137298107147217,
                        "yaw": 96.28141784667969
                    }
                },
                "velocity": {
                    "x": -1.0374706983566284,
                    "y": 9.355899810791016,
                    "z": 0.18141686916351318
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.461208820343018,
                "transform": {
                    "location": {
                        "x": 973.1731567382812,
                        "y": 3321.461181640625,
                        "z": 369.2060546875
                    },
                    "rotation": {
                        "roll": -0.001953180879354477,
                        "pitch": 0.7643527388572693,
                        "yaw": 98.96124267578125
                    }
                },
                "velocity": {
                    "x": -1.156227469444275,
                    "y": 7.370096206665039,
                    "z": 0.12025071680545807
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.176582336425781,
                "transform": {
                    "location": {
                        "x": 970.3890380859375,
                        "y": 3338.983642578125,
                        "z": 369.4771423339844
                    },
                    "rotation": {
                        "roll": 0.00019057282770518214,
                        "pitch": 0.8552694320678711,
                        "yaw": 99.04373931884766
                    }
                },
                "velocity": {
                    "x": -1.3040287494659424,
                    "y": 8.07099723815918,
                    "z": 0.1225341409444809
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.31442883610725403,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05978718772530556,
        "expert_target_speed": 9.439064551529643,
        "target_point": [
            42.08213049729477,
            1.3805568721024777
        ],
        "target_point_next": [
            93.03126153501191,
            3.656746817771909
        ]
    },
    "80": {
        "acceleration": [
            -0.6840801239013672,
            3.795757293701172,
            0.05574673414230347
        ],
        "angular_velocity": [
            -0.5470823049545288,
            0.0021377182565629482,
            1.3234597444534302
        ],
        "forward_vector": [
            -0.12011946737766266,
            0.9923246502876282,
            0.029376691207289696
        ],
        "right_vector": [
            -0.992747962474823,
            -0.12020786851644516,
            0.001255404087714851
        ],
        "location": [
            972.5557861328125,
            3303.090576171875,
            368.88238525390625
        ],
        "rotation": [
            -0.0719604343175888,
            1.6834025382995605,
            96.90199279785156
        ],
        "velocity": [
            -1.292654275894165,
            10.533783912658691,
            0.19757458567619324
        ],
        "speed": 10.612801637436483,
        "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": 21.22408103942871,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                969.467529296875,
                3324.08544921875,
                369.2560119628906
            ],
            "velocity": [
                -1.066691517829895,
                6.699812889099121,
                0.1080249547958374
            ],
            "speed_kmh": 24.426203725195172,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.9989013671875,
                        "y": 3382.841552734375,
                        "z": 370.3222961425781
                    },
                    "rotation": {
                        "roll": 2.668203791245105e-08,
                        "pitch": -0.6297024488449097,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.7902221679688,
                        "y": 3382.324951171875,
                        "z": 370.3222961425781
                    },
                    "rotation": {
                        "roll": 2.668203791245105e-08,
                        "pitch": -0.6297024488449097,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.2852067947387695,
                "transform": {
                    "location": {
                        "x": 976.3392944335938,
                        "y": 3279.08642578125,
                        "z": 368.3922424316406
                    },
                    "rotation": {
                        "roll": -0.036102332174777985,
                        "pitch": 1.4960094690322876,
                        "yaw": 86.74394989013672
                    }
                },
                "velocity": {
                    "x": 0.5588983297348022,
                    "y": 5.2542290687561035,
                    "z": 0.11882863938808441
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.018425941467285,
                "transform": {
                    "location": {
                        "x": 976.5488891601562,
                        "y": 3342.73876953125,
                        "z": 369.5064392089844
                    },
                    "rotation": {
                        "roll": 1.5502955648116767e-05,
                        "pitch": -0.8304075002670288,
                        "yaw": -80.78852844238281
                    }
                },
                "velocity": {
                    "x": 1.280966877937317,
                    "y": -7.914604187011719,
                    "z": -0.11542415618896484
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021040916442871,
                "transform": {
                    "location": {
                        "x": 973.3435668945312,
                        "y": 3342.202392578125,
                        "z": 369.5061340332031
                    },
                    "rotation": {
                        "roll": -0.0005493538919836283,
                        "pitch": -0.8278462290763855,
                        "yaw": -80.8139419555664
                    }
                },
                "velocity": {
                    "x": 1.2828104496002197,
                    "y": -7.916959762573242,
                    "z": -0.11510682851076126
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.7850565910339355,
                "transform": {
                    "location": {
                        "x": 969.467529296875,
                        "y": 3324.08544921875,
                        "z": 369.2560119628906
                    },
                    "rotation": {
                        "roll": -0.001281748409382999,
                        "pitch": 0.8886007070541382,
                        "yaw": 99.01214599609375
                    }
                },
                "velocity": {
                    "x": -1.066691517829895,
                    "y": 6.699812889099121,
                    "z": 0.1080249547958374
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.944195747375488,
                "transform": {
                    "location": {
                        "x": 966.882080078125,
                        "y": 3340.2373046875,
                        "z": 369.4998474121094
                    },
                    "rotation": {
                        "roll": 0.003390509868040681,
                        "pitch": 0.8052997589111328,
                        "yaw": 99.19621276855469
                    }
                },
                "velocity": {
                    "x": -1.269350290298462,
                    "y": 7.841300964355469,
                    "z": 0.11400777846574783
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.14882613718509674,
                "transform": {
                    "location": {
                        "x": 978.6339111328125,
                        "y": 3267.80078125,
                        "z": 368.13299560546875
                    },
                    "rotation": {
                        "roll": 0.012933251447975636,
                        "pitch": 1.3311355113983154,
                        "yaw": 92.9538803100586
                    }
                },
                "velocity": {
                    "x": -0.008309799246490002,
                    "y": 0.1485578417778015,
                    "z": 0.0032765292562544346
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.122925758361816,
                "transform": {
                    "location": {
                        "x": 975.9576416015625,
                        "y": 3301.150634765625,
                        "z": 368.84423828125
                    },
                    "rotation": {
                        "roll": -0.02087395451962948,
                        "pitch": 1.1502721309661865,
                        "yaw": 96.48392486572266
                    }
                },
                "velocity": {
                    "x": -1.1453804969787598,
                    "y": 10.056061744689941,
                    "z": 0.19327150285243988
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.305461883544922,
                "transform": {
                    "location": {
                        "x": 972.8594970703125,
                        "y": 3323.441162109375,
                        "z": 369.23779296875
                    },
                    "rotation": {
                        "roll": 0.0002945016894955188,
                        "pitch": 0.8155723810195923,
                        "yaw": 99.0058822631836
                    }
                },
                "velocity": {
                    "x": -1.3027704954147339,
                    "y": 8.201587677001953,
                    "z": 0.13209731876850128
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.963400363922119,
                "transform": {
                    "location": {
                        "x": 970.0670166015625,
                        "y": 3340.974853515625,
                        "z": 369.5061340332031
                    },
                    "rotation": {
                        "roll": -0.0004577756335493177,
                        "pitch": 0.8145751357078552,
                        "yaw": 99.02787780761719
                    }
                },
                "velocity": {
                    "x": -1.2720755338668823,
                    "y": 7.860315799713135,
                    "z": 0.11404184252023697
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.05154075473546982,
        "expert_target_speed": 10.0,
        "target_point": [
            39.56484890733199,
            1.150291154964405
        ],
        "target_point_next": [
            90.52581123613754,
            3.1441097749249334
        ]
    },
    "85": {
        "acceleration": [
            -0.8160114288330078,
            4.217014312744141,
            0.0438573956489563
        ],
        "angular_velocity": [
            -0.2767680585384369,
            0.0776442363858223,
            1.44575834274292
        ],
        "forward_vector": [
            -0.1261167973279953,
            0.9916306138038635,
            0.02762836031615734
        ],
        "right_vector": [
            -0.9920026659965515,
            -0.12620724737644196,
            0.0015477697597816586
        ],
        "location": [
            972.208740234375,
            3305.858154296875,
            368.9341735839844
        ],
        "rotation": [
            -0.08871456980705261,
            1.5831899642944336,
            97.24803924560547
        ],
        "velocity": [
            -1.4871584177017212,
            11.566750526428223,
            0.2114354968070984
        ],
        "speed": 11.661962009026125,
        "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": 20.203561782836914,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                969.1896362304688,
                3325.831787109375,
                369.2847595214844
            ],
            "velocity": [
                -1.224062442779541,
                7.683261394500732,
                0.1249551773071289
            ],
            "speed_kmh": 28.01217539178892,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.325439453125,
                        "y": 3380.81201171875,
                        "z": 370.0437927246094
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.1167602539062,
                        "y": 3380.295166015625,
                        "z": 370.0437927246094
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.336940288543701,
                "transform": {
                    "location": {
                        "x": 976.4985961914062,
                        "y": 3280.4052734375,
                        "z": 368.4208068847656
                    },
                    "rotation": {
                        "roll": -0.14538580179214478,
                        "pitch": 1.321771264076233,
                        "yaw": 83.9508056640625
                    }
                },
                "velocity": {
                    "x": 0.6853185892105103,
                    "y": 5.291501522064209,
                    "z": 0.11524612456560135
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.058127403259277,
                "transform": {
                    "location": {
                        "x": 976.869873046875,
                        "y": 3340.755615234375,
                        "z": 369.47747802734375
                    },
                    "rotation": {
                        "roll": 2.2147029085317627e-05,
                        "pitch": -0.8213779926300049,
                        "yaw": -80.8088607788086
                    }
                },
                "velocity": {
                    "x": 1.2841721773147583,
                    "y": -7.9543046951293945,
                    "z": -0.11555089056491852
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.083271026611328,
                "transform": {
                    "location": {
                        "x": 973.6654663085938,
                        "y": 3340.21240234375,
                        "z": 369.47711181640625
                    },
                    "rotation": {
                        "roll": -0.00039672537241131067,
                        "pitch": -0.8219859004020691,
                        "yaw": -80.79124450683594
                    }
                },
                "velocity": {
                    "x": 1.289361834526062,
                    "y": -7.97894811630249,
                    "z": -0.11492157727479935
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.7811598777771,
                "transform": {
                    "location": {
                        "x": 969.1896362304688,
                        "y": 3325.831787109375,
                        "z": 369.2847595214844
                    },
                    "rotation": {
                        "roll": -0.0009460281580686569,
                        "pitch": 0.8343485593795776,
                        "yaw": 99.02572631835938
                    }
                },
                "velocity": {
                    "x": -1.224062442779541,
                    "y": 7.683261394500732,
                    "z": 0.1249551773071289
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.085016250610352,
                "transform": {
                    "location": {
                        "x": 966.5616455078125,
                        "y": 3342.219970703125,
                        "z": 369.52838134765625
                    },
                    "rotation": {
                        "roll": 0.0038343588821589947,
                        "pitch": 0.8634588122367859,
                        "yaw": 99.178466796875
                    }
                },
                "velocity": {
                    "x": -1.2877219915390015,
                    "y": 7.9809746742248535,
                    "z": 0.11533238738775253
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9173634052276611,
                "transform": {
                    "location": {
                        "x": 978.6265258789062,
                        "y": 3267.9375,
                        "z": 368.1361999511719
                    },
                    "rotation": {
                        "roll": 0.011061649769544601,
                        "pitch": 1.4124420881271362,
                        "yaw": 92.92497253417969
                    }
                },
                "velocity": {
                    "x": -0.04907916113734245,
                    "y": 0.9158197045326233,
                    "z": 0.02052215486764908
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.447498321533203,
                "transform": {
                    "location": {
                        "x": 975.6661376953125,
                        "y": 3303.619384765625,
                        "z": 368.89056396484375
                    },
                    "rotation": {
                        "roll": -0.03094480000436306,
                        "pitch": 1.0026307106018066,
                        "yaw": 96.8825912475586
                    }
                },
                "velocity": {
                    "x": -1.137100338935852,
                    "y": 9.377175331115723,
                    "z": 0.1755087971687317
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.8382954597473145,
                "transform": {
                    "location": {
                        "x": 972.5436401367188,
                        "y": 3325.4296875,
                        "z": 369.26904296875
                    },
                    "rotation": {
                        "roll": -0.0026550551410764456,
                        "pitch": 0.9342536926269531,
                        "yaw": 99.02532958984375
                    }
                },
                "velocity": {
                    "x": -1.230920433998108,
                    "y": 7.740020751953125,
                    "z": 0.12567242980003357
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.078695297241211,
                "transform": {
                    "location": {
                        "x": 969.7485961914062,
                        "y": 3342.950927734375,
                        "z": 369.5348205566406
                    },
                    "rotation": {
                        "roll": 0.0002676595759112388,
                        "pitch": 0.8323541283607483,
                        "yaw": 99.00550842285156
                    }
                },
                "velocity": {
                    "x": -1.284265160560608,
                    "y": 7.975117206573486,
                    "z": 0.11614543944597244
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.04510440304875374,
        "expert_target_speed": 10.0,
        "target_point": [
            36.78182529317408,
            0.9162595756619245
        ],
        "target_point_next": [
            87.75389799581163,
            2.602319647032763
        ]
    },
    "90": {
        "acceleration": [
            -0.8178424835205078,
            3.7119674682617188,
            0.07739156484603882
        ],
        "angular_velocity": [
            -0.24483220279216766,
            0.007444011978805065,
            1.5589534044265747
        ],
        "forward_vector": [
            -0.13262419402599335,
            0.9908127784729004,
            0.02647281065583229
        ],
        "right_vector": [
            -0.9911521077156067,
            -0.13271822035312653,
            0.0018193654250353575
        ],
        "location": [
            971.811767578125,
            3308.876708984375,
            368.9891052246094
        ],
        "rotation": [
            -0.104278564453125,
            1.5169576406478882,
            97.62394714355469
        ],
        "velocity": [
            -1.691441297531128,
            12.53840446472168,
            0.22518227994441986
        ],
        "speed": 12.651978508673904,
        "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": 19.23451042175293,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                968.862060546875,
                3327.880859375,
                369.3175354003906
            ],
            "velocity": [
                -1.2880889177322388,
                8.0437593460083,
                0.12663114070892334
            ],
            "speed_kmh": 29.330009496635345,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.6563720703125,
                        "y": 3378.7548828125,
                        "z": 369.9986877441406
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.4476928710938,
                        "y": 3378.238037109375,
                        "z": 369.9986572265625
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.350222587585449,
                "transform": {
                    "location": {
                        "x": 976.7208251953125,
                        "y": 3281.984619140625,
                        "z": 368.4553527832031
                    },
                    "rotation": {
                        "roll": -0.18951416015625,
                        "pitch": 1.4894182682037354,
                        "yaw": 82.32469940185547
                    }
                },
                "velocity": {
                    "x": 1.063422679901123,
                    "y": 7.271202087402344,
                    "z": 0.15660712122917175
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.08271598815918,
                "transform": {
                    "location": {
                        "x": 977.1920776367188,
                        "y": 3338.76171875,
                        "z": 369.447998046875
                    },
                    "rotation": {
                        "roll": -0.0014038382796570659,
                        "pitch": -0.8499487042427063,
                        "yaw": -80.82215881347656
                    }
                },
                "velocity": {
                    "x": 1.288988471031189,
                    "y": -7.978326797485352,
                    "z": -0.1229216530919075
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.047986030578613,
                "transform": {
                    "location": {
                        "x": 973.9869995117188,
                        "y": 3338.222412109375,
                        "z": 369.4476623535156
                    },
                    "rotation": {
                        "roll": 0.0006323960842564702,
                        "pitch": -0.8525919914245605,
                        "yaw": -80.84471130371094
                    }
                },
                "velocity": {
                    "x": 1.2801052331924438,
                    "y": -7.944569110870361,
                    "z": -0.12341973930597305
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.147224426269531,
                "transform": {
                    "location": {
                        "x": 968.862060546875,
                        "y": 3327.880859375,
                        "z": 369.3175354003906
                    },
                    "rotation": {
                        "roll": 0.001214573159813881,
                        "pitch": 0.8497915863990784,
                        "yaw": 99.0858154296875
                    }
                },
                "velocity": {
                    "x": -1.2880889177322388,
                    "y": 8.0437593460083,
                    "z": 0.12663114070892334
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.990899562835693,
                "transform": {
                    "location": {
                        "x": 966.2416381835938,
                        "y": 3344.204345703125,
                        "z": 369.55718994140625
                    },
                    "rotation": {
                        "roll": 0.0020341696217656136,
                        "pitch": 0.8314183950424194,
                        "yaw": 99.15921020507812
                    }
                },
                "velocity": {
                    "x": -1.271612286567688,
                    "y": 7.8882341384887695,
                    "z": 0.11507034301757812
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7499505281448364,
                "transform": {
                    "location": {
                        "x": 978.6085815429688,
                        "y": 3268.2822265625,
                        "z": 368.14404296875
                    },
                    "rotation": {
                        "roll": 0.010581647977232933,
                        "pitch": 1.4395784139633179,
                        "yaw": 92.8770980834961
                    }
                },
                "velocity": {
                    "x": -0.09179185330867767,
                    "y": 1.747084140777588,
                    "z": 0.03997207432985306
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0755033493042,
                "transform": {
                    "location": {
                        "x": 975.401123046875,
                        "y": 3305.770263671875,
                        "z": 368.93017578125
                    },
                    "rotation": {
                        "roll": -0.020660411566495895,
                        "pitch": 0.8632675409317017,
                        "yaw": 97.06926727294922
                    }
                },
                "velocity": {
                    "x": -0.9971404075622559,
                    "y": 8.012351036071777,
                    "z": 0.14730031788349152
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.332923889160156,
                "transform": {
                    "location": {
                        "x": 972.268798828125,
                        "y": 3327.152099609375,
                        "z": 369.2960510253906
                    },
                    "rotation": {
                        "roll": 6.206897523952648e-05,
                        "pitch": 1.0439534187316895,
                        "yaw": 99.04316711425781
                    }
                },
                "velocity": {
                    "x": -1.0036529302597046,
                    "y": 6.252055644989014,
                    "z": 0.10198676586151123
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.025583267211914,
                "transform": {
                    "location": {
                        "x": 969.4279174804688,
                        "y": 3344.94189453125,
                        "z": 369.5637512207031
                    },
                    "rotation": {
                        "roll": -0.002319332445040345,
                        "pitch": 0.8299225568771362,
                        "yaw": 98.99525451660156
                    }
                },
                "velocity": {
                    "x": -1.2768810987472534,
                    "y": 7.922526836395264,
                    "z": 0.11458776146173477
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22186279296875
                    },
                    "rotation": {
                        "roll": -0.012207038700580597,
                        "pitch": 0.6974852085113525,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1396484375
                    },
                    "rotation": {
                        "roll": 0.0016087780240923166,
                        "pitch": 0.1859109103679657,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.03750326484441757,
        "expert_target_speed": 10.0,
        "target_point": [
            33.742507854891585,
            0.6818996714556498
        ],
        "target_point_next": [
            84.72454665390632,
            2.0334595343530015
        ]
    },
    "95": {
        "acceleration": [
            -0.08820772171020508,
            -1.4481544494628906,
            -0.03455430269241333
        ],
        "angular_velocity": [
            -1.6643682718276978,
            -0.23385722935199738,
            1.266343355178833
        ],
        "forward_vector": [
            -0.13898955285549164,
            0.9900258779525757,
            0.023035990074276924
        ],
        "right_vector": [
            -0.9902805089950562,
            -0.13907074928283691,
            0.0019531750585883856
        ],
        "location": [
            971.3697509765625,
            3312.084716796875,
            369.0464782714844
        ],
        "rotation": [
            -0.1119384691119194,
            1.3199818134307861,
            97.99151611328125
        ],
        "velocity": [
            -1.8121111392974854,
            12.856632232666016,
            0.22621992230415344
        ],
        "speed": 12.983710530784055,
        "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": 83.81360626220703,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                957.3082885742188,
                3394.703125,
                370.1395263671875
            ],
            "velocity": [
                3.3099577194661833e-06,
                -3.295384158263914e-05,
                0.0014284724602475762
            ],
            "speed_kmh": 0.005143882875426378,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.984562397003174,
                "transform": {
                    "location": {
                        "x": 970.9423217773438,
                        "y": 3377.0322265625,
                        "z": 369.9597473144531
                    },
                    "rotation": {
                        "roll": -0.052215576171875,
                        "pitch": -0.9360364079475403,
                        "yaw": -80.55477142333984
                    }
                },
                "velocity": {
                    "x": 1.1873482465744019,
                    "y": -6.881714820861816,
                    "z": -0.12773734331130981
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.918433666229248,
                "transform": {
                    "location": {
                        "x": 967.7347412109375,
                        "y": 3376.52783203125,
                        "z": 369.9612121582031
                    },
                    "rotation": {
                        "roll": -0.07244868576526642,
                        "pitch": -1.0174181461334229,
                        "yaw": -80.45874786376953
                    }
                },
                "velocity": {
                    "x": 1.1820776462554932,
                    "y": -6.815515995025635,
                    "z": -0.12711191177368164
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.482111930847168,
                "transform": {
                    "location": {
                        "x": 976.8872680664062,
                        "y": 3283.954833984375,
                        "z": 368.4974060058594
                    },
                    "rotation": {
                        "roll": -0.4095762372016907,
                        "pitch": 1.426614761352539,
                        "yaw": 85.87649536132812
                    }
                },
                "velocity": {
                    "x": 0.4486137926578522,
                    "y": 8.468313217163086,
                    "z": 0.18065938353538513
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.017597198486328,
                "transform": {
                    "location": {
                        "x": 977.5123901367188,
                        "y": 3336.778076171875,
                        "z": 369.4176025390625
                    },
                    "rotation": {
                        "roll": 0.00035737454891204834,
                        "pitch": -0.8950142860412598,
                        "yaw": -80.83116149902344
                    }
                },
                "velocity": {
                    "x": 1.2772458791732788,
                    "y": -7.9142303466796875,
                    "z": -0.12439622730016708
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.056878089904785,
                "transform": {
                    "location": {
                        "x": 974.3073120117188,
                        "y": 3336.236572265625,
                        "z": 369.4171447753906
                    },
                    "rotation": {
                        "roll": -0.0008544644224457443,
                        "pitch": -0.8933681845664978,
                        "yaw": -80.81602478027344
                    }
                },
                "velocity": {
                    "x": 1.283514380455017,
                    "y": -7.953021049499512,
                    "z": -0.12382616102695465
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7544555664062,
                        "y": 3422.418701171875,
                        "z": 370.5242004394531
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256103515625,
                        "y": 3438.751220703125,
                        "z": 370.5596923828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2711169719696045,
                "transform": {
                    "location": {
                        "x": 978.579833984375,
                        "y": 3268.822509765625,
                        "z": 368.1563720703125
                    },
                    "rotation": {
                        "roll": 0.008590878918766975,
                        "pitch": 1.4125103950500488,
                        "yaw": 92.9481430053711
                    }
                },
                "velocity": {
                    "x": -0.12053971737623215,
                    "y": 2.2673377990722656,
                    "z": 0.05121278762817383
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.25232219696045,
                "transform": {
                    "location": {
                        "x": 975.1463012695312,
                        "y": 3307.764892578125,
                        "z": 368.9666748046875
                    },
                    "rotation": {
                        "roll": -0.02490236796438694,
                        "pitch": 1.0037031173706055,
                        "yaw": 97.37327575683594
                    }
                },
                "velocity": {
                    "x": -1.0743159055709839,
                    "y": 8.18077278137207,
                    "z": 0.14706769585609436
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.494492530822754,
                "transform": {
                    "location": {
                        "x": 972.0185546875,
                        "y": 3328.7158203125,
                        "z": 369.3221130371094
                    },
                    "rotation": {
                        "roll": -0.000732416461687535,
                        "pitch": 0.9089410305023193,
                        "yaw": 99.05034637451172
                    }
                },
                "velocity": {
                    "x": -1.0256924629211426,
                    "y": 6.412206172943115,
                    "z": 0.1000245064496994
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058837890625,
                "transform": {
                    "location": {
                        "x": 969.1080932617188,
                        "y": 3346.92431640625,
                        "z": 369.5919189453125
                    },
                    "rotation": {
                        "roll": -0.0014648431679233909,
                        "pitch": 0.7957989573478699,
                        "yaw": 99.01466369628906
                    }
                },
                "velocity": {
                    "x": -1.2810941934585571,
                    "y": 7.955565452575684,
                    "z": 0.11239659786224365
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.001544391387142241,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.2210998535156
                    },
                    "rotation": {
                        "roll": 8.162135782185942e-05,
                        "pitch": 0.6913653612136841,
                        "yaw": 99.13835144042969
                    }
                },
                "velocity": {
                    "x": -0.0002575860416982323,
                    "y": -7.001459744060412e-05,
                    "z": -0.0015211482532322407
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0014288563979789615,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1395263671875
                    },
                    "rotation": {
                        "roll": 0.0026166164316236973,
                        "pitch": 0.18503664433956146,
                        "yaw": 99.14045715332031
                    }
                },
                "velocity": {
                    "x": 3.3099577194661833e-06,
                    "y": -3.295384158263914e-05,
                    "z": 0.0014284724602475762
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.02640478126704693,
        "expert_target_speed": 10.0,
        "target_point": [
            30.507882090425536,
            0.4737066900397515
        ],
        "target_point_next": [
            81.49754196552855,
            1.498196801533016
        ]
    },
    "100": {
        "acceleration": [
            0.26467084884643555,
            -3.18145751953125,
            -0.0694572925567627
        ],
        "angular_velocity": [
            -1.2658414840698242,
            -0.25592246651649475,
            1.0243126153945923
        ],
        "forward_vector": [
            -0.1437210887670517,
            0.9894905090332031,
            0.01590065471827984
        ],
        "right_vector": [
            -0.9896101951599121,
            -0.14376629889011383,
            0.0017313677817583084
        ],
        "location": [
            970.9222412109375,
            3315.210205078125,
            369.10186767578125
        ],
        "rotation": [
            -0.0992126539349556,
            0.9110788702964783,
            98.2642822265625
        ],
        "velocity": [
            -1.7704366445541382,
            12.162050247192383,
            0.2075454443693161
        ],
        "speed": 12.290236455317384,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 80.65693664550781,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                957.3082885742188,
                3394.703125,
                370.13970947265625
            ],
            "velocity": [
                1.761932799126953e-05,
                -2.7173085982212797e-05,
                0.0015547225484624505
            ],
            "speed_kmh": 0.0055982153244972955,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.766428470611572,
                "transform": {
                    "location": {
                        "x": 971.2322387695312,
                        "y": 3375.3369140625,
                        "z": 369.93585205078125
                    },
                    "rotation": {
                        "roll": -0.007842980325222015,
                        "pitch": -0.6696180701255798,
                        "yaw": -80.26249694824219
                    }
                },
                "velocity": {
                    "x": 1.1409425735473633,
                    "y": -6.669246196746826,
                    "z": -0.06296958774328232
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.714078426361084,
                "transform": {
                    "location": {
                        "x": 968.0235595703125,
                        "y": 3374.84765625,
                        "z": 369.9341735839844
                    },
                    "rotation": {
                        "roll": -0.016601568087935448,
                        "pitch": -0.807157576084137,
                        "yaw": -80.2738037109375
                    }
                },
                "velocity": {
                    "x": 1.1278682947158813,
                    "y": -6.618053913116455,
                    "z": -0.09011588245630264
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.617178916931152,
                "transform": {
                    "location": {
                        "x": 976.9615478515625,
                        "y": 3286.222412109375,
                        "z": 368.54534912109375
                    },
                    "rotation": {
                        "roll": -0.29962158203125,
                        "pitch": 1.3974566459655762,
                        "yaw": 88.58951568603516
                    }
                },
                "velocity": {
                    "x": 0.20359188318252563,
                    "y": 9.612903594970703,
                    "z": 0.20189279317855835
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.092466354370117,
                "transform": {
                    "location": {
                        "x": 977.833251953125,
                        "y": 3334.7890625,
                        "z": 369.3863220214844
                    },
                    "rotation": {
                        "roll": 0.0010022374335676432,
                        "pitch": -0.8891881108283997,
                        "yaw": -80.83918762207031
                    }
                },
                "velocity": {
                    "x": 1.2861765623092651,
                    "y": -7.9886040687561035,
                    "z": -0.12632188200950623
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.062067985534668,
                "transform": {
                    "location": {
                        "x": 974.6283569335938,
                        "y": 3334.246826171875,
                        "z": 369.3858947753906
                    },
                    "rotation": {
                        "roll": -0.00036628631642088294,
                        "pitch": -0.8894340395927429,
                        "yaw": -80.85963439941406
                    }
                },
                "velocity": {
                    "x": 1.2827807664871216,
                    "y": -7.95839262008667,
                    "z": -0.12411592155694962
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7544555664062,
                        "y": 3422.418701171875,
                        "z": 370.5242004394531
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256103515625,
                        "y": 3438.751220703125,
                        "z": 370.5596923828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3235626220703125,
                "transform": {
                    "location": {
                        "x": 978.5509033203125,
                        "y": 3269.36376953125,
                        "z": 368.1686096191406
                    },
                    "rotation": {
                        "roll": 0.007751198951154947,
                        "pitch": 1.3449939489364624,
                        "yaw": 92.98113250732422
                    }
                },
                "velocity": {
                    "x": -0.12419269979000092,
                    "y": 2.3196277618408203,
                    "z": 0.05334988608956337
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.291513442993164,
                "transform": {
                    "location": {
                        "x": 974.8564453125,
                        "y": 3309.937744140625,
                        "z": 369.0057067871094
                    },
                    "rotation": {
                        "roll": -0.01776120625436306,
                        "pitch": 1.1312295198440552,
                        "yaw": 97.63143920898438
                    }
                },
                "velocity": {
                    "x": -1.239414930343628,
                    "y": 9.207022666931152,
                    "z": 0.16375085711479187
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.929883003234863,
                "transform": {
                    "location": {
                        "x": 971.7498779296875,
                        "y": 3330.3974609375,
                        "z": 369.3490905761719
                    },
                    "rotation": {
                        "roll": -0.0005798549391329288,
                        "pitch": 0.8421622514724731,
                        "yaw": 99.11236572265625
                    }
                },
                "velocity": {
                    "x": -1.0964183807373047,
                    "y": 6.841758728027344,
                    "z": 0.10715631395578384
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.02127456665039,
                "transform": {
                    "location": {
                        "x": 968.7888793945312,
                        "y": 3348.90869140625,
                        "z": 369.6194152832031
                    },
                    "rotation": {
                        "roll": -0.002471919171512127,
                        "pitch": 0.7605210542678833,
                        "yaw": 98.98055267333984
                    }
                },
                "velocity": {
                    "x": -1.2737399339675903,
                    "y": 7.91878080368042,
                    "z": 0.10651588439941406
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 8.035333303268999e-05,
                "transform": {
                    "location": {
                        "x": 955.8789672851562,
                        "y": 3403.592529296875,
                        "z": 370.22100830078125
                    },
                    "rotation": {
                        "roll": -0.0008239508606493473,
                        "pitch": 0.6877385377883911,
                        "yaw": 99.13829803466797
                    }
                },
                "velocity": {
                    "x": -6.666166882496327e-05,
                    "y": -2.559632048360072e-05,
                    "z": -3.6847093724645674e-05
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0015550598036497831,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.13970947265625
                    },
                    "rotation": {
                        "roll": -1.3340284432672433e-08,
                        "pitch": 0.18686030805110931,
                        "yaw": 99.14045715332031
                    }
                },
                "velocity": {
                    "x": 1.761932799126953e-05,
                    "y": -2.7173085982212797e-05,
                    "z": 0.0015547225484624505
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.02060752920806408,
        "expert_target_speed": 10.0,
        "target_point": [
            27.352434807121536,
            0.33486143835967974
        ],
        "target_point_next": [
            78.34639397999621,
            1.1166043899937002
        ]
    },
    "105": {
        "acceleration": [
            0.36222219467163086,
            -2.778911590576172,
            -0.07327467203140259
        ],
        "angular_velocity": [
            -0.40676867961883545,
            -0.21473999321460724,
            0.3814070522785187
        ],
        "forward_vector": [
            -0.14676696062088013,
            0.9890944361686707,
            0.012313888408243656
        ],
        "right_vector": [
            -0.9891662001609802,
            -0.1467938870191574,
            0.0013069802662357688
        ],
        "location": [
            970.4900512695312,
            3318.14990234375,
            369.15179443359375
        ],
        "rotation": [
            -0.0748901516199112,
            0.7055516839027405,
            98.44026184082031
        ],
        "velocity": [
            -1.6923953294754028,
            11.404722213745117,
            0.18834121525287628
        ],
        "speed": 11.529609304912352,
        "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": 77.68610382080078,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                957.3082885742188,
                3394.703125,
                370.1397705078125
            ],
            "velocity": [
                8.378407801501453e-05,
                2.9835105124220718e-06,
                0.001849442720413208
            ],
            "speed_kmh": 0.0066648310523992746,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.1327948570251465,
                "transform": {
                    "location": {
                        "x": 971.5134887695312,
                        "y": 3373.6875,
                        "z": 369.9207458496094
                    },
                    "rotation": {
                        "roll": 0.0034209126606583595,
                        "pitch": -0.752994179725647,
                        "yaw": -80.29730987548828
                    }
                },
                "velocity": {
                    "x": 1.0272361040115356,
                    "y": -6.0458245277404785,
                    "z": -0.06298729032278061
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.800053119659424,
                "transform": {
                    "location": {
                        "x": 968.2955322265625,
                        "y": 3373.246826171875,
                        "z": 369.9142150878906
                    },
                    "rotation": {
                        "roll": -0.00372316618449986,
                        "pitch": -0.9877067804336548,
                        "yaw": -80.35099792480469
                    }
                },
                "velocity": {
                    "x": 0.9681157469749451,
                    "y": -5.718239784240723,
                    "z": -0.07142089307308197
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.78085994720459,
                "transform": {
                    "location": {
                        "x": 976.9407348632812,
                        "y": 3288.77392578125,
                        "z": 368.59869384765625
                    },
                    "rotation": {
                        "roll": -0.3176575303077698,
                        "pitch": 1.381392002105713,
                        "yaw": 91.40947723388672
                    }
                },
                "velocity": {
                    "x": -0.333437442779541,
                    "y": 10.773398399353027,
                    "z": 0.22281689941883087
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02476978302002,
                "transform": {
                    "location": {
                        "x": 978.1536254882812,
                        "y": 3332.80029296875,
                        "z": 369.3550720214844
                    },
                    "rotation": {
                        "roll": -0.0006713337497785687,
                        "pitch": -0.8897345662117004,
                        "yaw": -80.84688568115234
                    }
                },
                "velocity": {
                    "x": 1.2763267755508423,
                    "y": -7.921657562255859,
                    "z": -0.1235392764210701
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.053874015808105,
                "transform": {
                    "location": {
                        "x": 974.9485473632812,
                        "y": 3332.2587890625,
                        "z": 369.35467529296875
                    },
                    "rotation": {
                        "roll": -0.0005493627395480871,
                        "pitch": -0.8890993595123291,
                        "yaw": -80.82745361328125
                    }
                },
                "velocity": {
                    "x": 1.2814608812332153,
                    "y": -7.950319766998291,
                    "z": -0.12316642701625824
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7544555664062,
                        "y": 3422.418701171875,
                        "z": 370.5242004394531
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256103515625,
                        "y": 3438.751220703125,
                        "z": 370.5596923828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.691406488418579,
                "transform": {
                    "location": {
                        "x": 978.5110473632812,
                        "y": 3270.10302734375,
                        "z": 368.18572998046875
                    },
                    "rotation": {
                        "roll": 0.004160449840128422,
                        "pitch": 1.4856412410736084,
                        "yaw": 93.03075408935547
                    }
                },
                "velocity": {
                    "x": -0.198398619890213,
                    "y": 3.6850969791412354,
                    "z": 0.0847325325012207
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.222272872924805,
                "transform": {
                    "location": {
                        "x": 974.5215454101562,
                        "y": 3312.3828125,
                        "z": 369.0484924316406
                    },
                    "rotation": {
                        "roll": -0.033050548285245895,
                        "pitch": 1.1379709243774414,
                        "yaw": 97.91629028320312
                    }
                },
                "velocity": {
                    "x": -1.4230436086654663,
                    "y": 10.121182441711426,
                    "z": 0.17739799618721008
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.562411308288574,
                "transform": {
                    "location": {
                        "x": 971.4303588867188,
                        "y": 3332.391845703125,
                        "z": 369.38116455078125
                    },
                    "rotation": {
                        "roll": 0.0005043030832894146,
                        "pitch": 0.7487184405326843,
                        "yaw": 99.11510467529297
                    }
                },
                "velocity": {
                    "x": -1.3579800128936768,
                    "y": 8.453022003173828,
                    "z": 0.13112668693065643
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.072060585021973,
                "transform": {
                    "location": {
                        "x": 968.46875,
                        "y": 3350.895263671875,
                        "z": 369.6458435058594
                    },
                    "rotation": {
                        "roll": -0.0039672511629760265,
                        "pitch": 0.7634170055389404,
                        "yaw": 99.01423645019531
                    }
                },
                "velocity": {
                    "x": -1.2865203619003296,
                    "y": 7.96816349029541,
                    "z": 0.10677112638950348
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0006603282527066767,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.2210388183594
                    },
                    "rotation": {
                        "roll": 1.803726627258584e-05,
                        "pitch": 0.6878546476364136,
                        "yaw": 99.13833618164062
                    }
                },
                "velocity": {
                    "x": 2.895031138905324e-05,
                    "y": 9.46320596995065e-06,
                    "z": -0.0006596254534088075
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0018513419199734926,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1397705078125
                    },
                    "rotation": {
                        "roll": 0.0004330122610554099,
                        "pitch": 0.18664173781871796,
                        "yaw": 99.14045715332031
                    }
                },
                "velocity": {
                    "x": 8.378407801501453e-05,
                    "y": 2.9835105124220718e-06,
                    "z": 0.001849442720413208
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.016803542152047157,
        "expert_target_speed": 10.0,
        "target_point": [
            24.382039653316127,
            0.25481412045783003
        ],
        "target_point_next": [
            75.37815958285094,
            0.8799111527194121
        ]
    },
    "110": {
        "acceleration": [
            0.39087772369384766,
            -1.1683273315429688,
            -0.028781592845916748
        ],
        "angular_velocity": [
            0.36574602127075195,
            -0.19649209082126617,
            -1.3149646520614624
        ],
        "forward_vector": [
            -0.14371861517429352,
            0.9895448684692383,
            0.012078111059963703
        ],
        "right_vector": [
            -0.9896170496940613,
            -0.14372903108596802,
            -6.708316504955292e-06
        ],
        "location": [
            970.0845336914062,
            3320.92236328125,
            369.1971740722656
        ],
        "rotation": [
            0.00038438625051639974,
            0.6920415759086609,
            98.2636947631836
        ],
        "velocity": [
            -1.5676918029785156,
            10.899332046508789,
            0.1773591786623001
        ],
        "speed": 11.011498383470775,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 74.88471984863281,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                957.3082885742188,
                3394.703125,
                370.1398010253906
            ],
            "velocity": [
                -5.8908368373522535e-05,
                -7.849603571230546e-05,
                0.0014907167060300708
            ],
            "speed_kmh": 0.005378197732490749,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.286416530609131,
                "transform": {
                    "location": {
                        "x": 971.7479248046875,
                        "y": 3372.3076171875,
                        "z": 369.90618896484375
                    },
                    "rotation": {
                        "roll": -0.005889924708753824,
                        "pitch": -0.9171167612075806,
                        "yaw": -80.33702087402344
                    }
                },
                "velocity": {
                    "x": 0.8835246562957764,
                    "y": -5.211672782897949,
                    "z": -0.06362752616405487
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.458405017852783,
                "transform": {
                    "location": {
                        "x": 968.5257568359375,
                        "y": 3371.8857421875,
                        "z": 369.8974609375
                    },
                    "rotation": {
                        "roll": -0.0028381128795444965,
                        "pitch": -0.9413434267044067,
                        "yaw": -80.3894271850586
                    }
                },
                "velocity": {
                    "x": 0.9090226292610168,
                    "y": -5.381801605224609,
                    "z": -0.06383335590362549
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.157794952392578,
                "transform": {
                    "location": {
                        "x": 976.8184204101562,
                        "y": 3291.46923828125,
                        "z": 368.654052734375
                    },
                    "rotation": {
                        "roll": -0.20266717672348022,
                        "pitch": 1.2848472595214844,
                        "yaw": 93.13528442382812
                    }
                },
                "velocity": {
                    "x": -0.6098471879959106,
                    "y": 11.13883113861084,
                    "z": 0.22564366459846497
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081570625305176,
                "transform": {
                    "location": {
                        "x": 978.4737548828125,
                        "y": 3330.81298828125,
                        "z": 369.323974609375
                    },
                    "rotation": {
                        "roll": 0.0010479994816705585,
                        "pitch": -0.8876649737358093,
                        "yaw": -80.85118103027344
                    }
                },
                "velocity": {
                    "x": 1.284871220588684,
                    "y": -7.97781229019165,
                    "z": -0.12412088364362717
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.058833122253418,
                "transform": {
                    "location": {
                        "x": 975.268798828125,
                        "y": 3330.270263671875,
                        "z": 369.32354736328125
                    },
                    "rotation": {
                        "roll": 0.0018660662462934852,
                        "pitch": -0.8877264857292175,
                        "yaw": -80.87523651123047
                    }
                },
                "velocity": {
                    "x": 1.2779669761657715,
                    "y": -7.955894470214844,
                    "z": -0.12382766604423523
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7544555664062,
                        "y": 3422.418701171875,
                        "z": 370.5242004394531
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256103515625,
                        "y": 3438.751220703125,
                        "z": 370.5596923828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.094426155090332,
                "transform": {
                    "location": {
                        "x": 978.4512329101562,
                        "y": 3271.2109375,
                        "z": 368.2112121582031
                    },
                    "rotation": {
                        "roll": 0.0036047976464033127,
                        "pitch": 1.5304745435714722,
                        "yaw": 93.07121276855469
                    }
                },
                "velocity": {
                    "x": -0.2747488021850586,
                    "y": 5.085531711578369,
                    "z": 0.1227070614695549
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.079846382141113,
                "transform": {
                    "location": {
                        "x": 974.1774291992188,
                        "y": 3314.785888671875,
                        "z": 369.0894470214844
                    },
                    "rotation": {
                        "roll": -0.024170005694031715,
                        "pitch": 0.8713613152503967,
                        "yaw": 98.23246002197266
                    }
                },
                "velocity": {
                    "x": -1.30199134349823,
                    "y": 8.984707832336426,
                    "z": 0.15312623977661133
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.994676113128662,
                "transform": {
                    "location": {
                        "x": 971.1021118164062,
                        "y": 3334.436767578125,
                        "z": 369.4117736816406
                    },
                    "rotation": {
                        "roll": -0.0013122811214998364,
                        "pitch": 0.9071037173271179,
                        "yaw": 99.1484375
                    }
                },
                "velocity": {
                    "x": -1.2681081295013428,
                    "y": 7.89249324798584,
                    "z": 0.12369388341903687
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.008792877197266,
                "transform": {
                    "location": {
                        "x": 968.1497192382812,
                        "y": 3352.878662109375,
                        "z": 369.67242431640625
                    },
                    "rotation": {
                        "roll": -0.001770029659382999,
                        "pitch": 0.7631984949111938,
                        "yaw": 98.97503662109375
                    }
                },
                "velocity": {
                    "x": -1.2706063985824585,
                    "y": 7.906623840332031,
                    "z": 0.10778432339429855
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0003150818811263889,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22100830078125
                    },
                    "rotation": {
                        "roll": 0.0003176266618538648,
                        "pitch": 0.6877385377883911,
                        "yaw": 99.13835906982422
                    }
                },
                "velocity": {
                    "x": 2.9230051950435154e-05,
                    "y": -3.347396705066785e-05,
                    "z": -0.0003119321772828698
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.0014939438551664352,
                "transform": {
                    "location": {
                        "x": 957.3082885742188,
                        "y": 3394.703125,
                        "z": 370.1398010253906
                    },
                    "rotation": {
                        "roll": -0.0008544985321350396,
                        "pitch": 0.18646416068077087,
                        "yaw": 99.14044952392578
                    }
                },
                "velocity": {
                    "x": -5.8908368373522535e-05,
                    "y": -7.849603571230546e-05,
                    "z": 0.0014907167060300708
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.03864232823252678,
        "expert_target_speed": 10.0,
        "target_point": [
            21.579179315386543,
            0.3271248439590648
        ],
        "target_point_next": [
            72.57313084416108,
            1.1093662697545703
        ]
    },
    "115": {
        "acceleration": [
            0.15723228454589844,
            0.9161758422851562,
            0.00778883695602417
        ],
        "angular_velocity": [
            0.7077539563179016,
            -0.0010327125201001763,
            -1.4285151958465576
        ],
        "forward_vector": [
            -0.13768576085567474,
            0.9903662800788879,
            0.014738263562321663
        ],
        "right_vector": [
            -0.9904751181602478,
            -0.1376895010471344,
            -0.0007657758542336524
        ],
        "location": [
            969.6998901367188,
            3323.6494140625,
            369.24072265625
        ],
        "rotation": [
            0.04388049244880676,
            0.8444708585739136,
            97.9148178100586
        ],
        "velocity": [
            -1.510377049446106,
            10.963772773742676,
            0.17784026265144348
        ],
        "speed": 11.067319109240263,
        "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": 72.16712188720703,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                957.3026123046875,
                3394.738037109375,
                370.13995361328125
            ],
            "velocity": [
                -0.07039277255535126,
                0.43856340646743774,
                0.004871711600571871
            ],
            "speed_kmh": 1.5991325517060053,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.216018676757812,
                "transform": {
                    "location": {
                        "x": 975.6876220703125,
                        "y": 3279.1923828125,
                        "z": 368.47845458984375
                    },
                    "rotation": {
                        "roll": 5.3374314745724405e-08,
                        "pitch": 1.2868895530700684,
                        "yaw": 99.94153594970703
                    }
                },
                "velocity": {
                    "x": -1.8986464738845825,
                    "y": 10.832415580749512,
                    "z": -2.202948808670044
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.793640613555908,
                "transform": {
                    "location": {
                        "x": 971.9712524414062,
                        "y": 3370.985595703125,
                        "z": 369.88787841796875
                    },
                    "rotation": {
                        "roll": 0.004156162962317467,
                        "pitch": -0.640282392501831,
                        "yaw": -80.38895416259766
                    }
                },
                "velocity": {
                    "x": 0.9515014290809631,
                    "y": -5.71455717086792,
                    "z": -0.06896427273750305
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.810050010681152,
                "transform": {
                    "location": {
                        "x": 968.7678833007812,
                        "y": 3370.449951171875,
                        "z": 369.878662109375
                    },
                    "rotation": {
                        "roll": 0.009873614646494389,
                        "pitch": -0.4634692966938019,
                        "yaw": -80.42610931396484
                    }
                },
                "velocity": {
                    "x": 1.1171016693115234,
                    "y": -6.717331886291504,
                    "z": -0.07948429137468338
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.641738891601562,
                "transform": {
                    "location": {
                        "x": 976.6178588867188,
                        "y": 3294.22998046875,
                        "z": 368.7094421386719
                    },
                    "rotation": {
                        "roll": -0.1576232612133026,
                        "pitch": 1.1122894287109375,
                        "yaw": 94.69355773925781
                    }
                },
                "velocity": {
                    "x": -0.8671872615814209,
                    "y": 10.60423469543457,
                    "z": 0.21164575219154358
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.032380104064941,
                "transform": {
                    "location": {
                        "x": 978.7939453125,
                        "y": 3328.82421875,
                        "z": 369.2922668457031
                    },
                    "rotation": {
                        "roll": -0.0010070466669276357,
                        "pitch": -0.9117072820663452,
                        "yaw": -80.85131072998047
                    }
                },
                "velocity": {
                    "x": 1.2769626379013062,
                    "y": -7.929209232330322,
                    "z": -0.12706324458122253
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057347297668457,
                "transform": {
                    "location": {
                        "x": 975.5885620117188,
                        "y": 3328.281494140625,
                        "z": 369.2918701171875
                    },
                    "rotation": {
                        "roll": -0.001220783917233348,
                        "pitch": -0.9112564921379089,
                        "yaw": -80.84361267089844
                    }
                },
                "velocity": {
                    "x": 1.2798174619674683,
                    "y": -7.954050064086914,
                    "z": -0.1264781951904297
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7544555664062,
                        "y": 3422.418701171875,
                        "z": 370.5242004394531
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256103515625,
                        "y": 3438.751220703125,
                        "z": 370.5596923828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.2933509349823,
                "transform": {
                    "location": {
                        "x": 978.3822631835938,
                        "y": 3272.44873046875,
                        "z": 368.2388916015625
                    },
                    "rotation": {
                        "roll": -0.008209164254367352,
                        "pitch": 1.1769235134124756,
                        "yaw": 92.7111587524414
                    }
                },
                "velocity": {
                    "x": -0.19437213242053986,
                    "y": 3.2868428230285645,
                    "z": 0.07101413607597351
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.216558456420898,
                "transform": {
                    "location": {
                        "x": 973.87060546875,
                        "y": 3316.880615234375,
                        "z": 369.1247253417969
                    },
                    "rotation": {
                        "roll": -0.02288823015987873,
                        "pitch": 0.8254624605178833,
                        "yaw": 98.39330291748047
                    }
                },
                "velocity": {
                    "x": -1.2139151096343994,
                    "y": 8.125271797180176,
                    "z": 0.13489770889282227
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.910103797912598,
                "transform": {
                    "location": {
                        "x": 970.789794921875,
                        "y": 3336.380859375,
                        "z": 369.44232177734375
                    },
                    "rotation": {
                        "roll": -0.0008544916636310518,
                        "pitch": 0.8956904411315918,
                        "yaw": 99.10107421875
                    }
                },
                "velocity": {
                    "x": -1.2536827325820923,
                    "y": 7.809162616729736,
                    "z": 0.12246574461460114
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.077812194824219,
                "transform": {
                    "location": {
                        "x": 967.8301391601562,
                        "y": 3354.864501953125,
                        "z": 369.6990661621094
                    },
                    "rotation": {
                        "roll": -0.0035094821359962225,
                        "pitch": 0.7649128437042236,
                        "yaw": 98.99984741210938
                    }
                },
                "velocity": {
                    "x": -1.285080075263977,
                    "y": 7.974238872528076,
                    "z": 0.10554269701242447
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.0008249976090155542,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.22100830078125
                    },
                    "rotation": {
                        "roll": 1.0939761523331981e-05,
                        "pitch": 0.6873219013214111,
                        "yaw": 99.13841247558594
                    }
                },
                "velocity": {
                    "x": -1.2897457963845227e-05,
                    "y": -3.48986686731223e-05,
                    "z": -0.000824158254545182
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.4442034959793091,
                "transform": {
                    "location": {
                        "x": 957.3026123046875,
                        "y": 3394.738037109375,
                        "z": 370.13995361328125
                    },
                    "rotation": {
                        "roll": -0.0009155265870504081,
                        "pitch": -0.09082102030515671,
                        "yaw": 99.12850189208984
                    }
                },
                "velocity": {
                    "x": -0.07039277255535126,
                    "y": 0.43856340646743774,
                    "z": 0.004871711600571871
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.09120583534240723,
        "expert_target_speed": 10.0,
        "target_point": [
            18.822749173134543,
            0.4530515692139123
        ],
        "target_point_next": [
            69.8109923728576,
            1.5457773230670337
        ]
    },
    "120": {
        "acceleration": [
            0.022869110107421875,
            1.3388824462890625,
            0.040230751037597656
        ],
        "angular_velocity": [
            0.4660055935382843,
            0.08818547427654266,
            -1.2737274169921875
        ],
        "forward_vector": [
            -0.13158853352069855,
            0.9911558032035828,
            0.017163148149847984
        ],
        "right_vector": [
            -0.9913036823272705,
            -0.1315900683403015,
            -0.0010451347334310412
        ],
        "location": [
            969.32568359375,
            3326.423583984375,
            369.2850036621094
        ],
        "rotation": [
            0.05989064276218414,
            0.9834242463111877,
            97.56251525878906
        ],
        "velocity": [
            -1.4816704988479614,
            11.244997024536133,
            0.18135769665241241
        ],
        "speed": 11.342191390951875,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 69.51628112792969,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                957.2793579101562,
                3394.8828125,
                370.1413269042969
            ],
            "velocity": [
                -0.11252030730247498,
                0.699957013130188,
                0.006541728973388672
            ],
            "speed_kmh": 2.552304626153756,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.194056510925293,
                "transform": {
                    "location": {
                        "x": 975.6524047851562,
                        "y": 3280.597412109375,
                        "z": 368.3821105957031
                    },
                    "rotation": {
                        "roll": -0.15664687752723694,
                        "pitch": 1.420085072517395,
                        "yaw": 92.61080169677734
                    }
                },
                "velocity": {
                    "x": 1.084520697593689,
                    "y": 4.0380144119262695,
                    "z": 0.3291860818862915
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.385174751281738,
                "transform": {
                    "location": {
                        "x": 972.2512817382812,
                        "y": 3369.304931640625,
                        "z": 369.8647155761719
                    },
                    "rotation": {
                        "roll": 0.008969500660896301,
                        "pitch": -0.22323788702487946,
                        "yaw": -80.57294464111328
                    }
                },
                "velocity": {
                    "x": 1.203769326210022,
                    "y": -7.285911560058594,
                    "z": -0.08506571501493454
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.25146198272705,
                "transform": {
                    "location": {
                        "x": 969.0838012695312,
                        "y": 3368.543701171875,
                        "z": 369.85498046875
                    },
                    "rotation": {
                        "roll": 0.016033947467803955,
                        "pitch": -0.10924886912107468,
                        "yaw": -80.58000946044922
                    }
                },
                "velocity": {
                    "x": 1.3432409763336182,
                    "y": -8.14083480834961,
                    "z": -0.0955715999007225
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.412399291992188,
                "transform": {
                    "location": {
                        "x": 976.39990234375,
                        "y": 3296.718994140625,
                        "z": 368.7585754394531
                    },
                    "rotation": {
                        "roll": -0.08636474609375,
                        "pitch": 0.960146963596344,
                        "yaw": 95.24191284179688
                    }
                },
                "velocity": {
                    "x": -0.8570401072502136,
                    "y": 9.371514320373535,
                    "z": 0.18293435871601105
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.080520629882812,
                "transform": {
                    "location": {
                        "x": 979.1138916015625,
                        "y": 3326.836181640625,
                        "z": 369.2602233886719
                    },
                    "rotation": {
                        "roll": 6.873768143123016e-05,
                        "pitch": -0.9222120642662048,
                        "yaw": -80.85774993896484
                    }
                },
                "velocity": {
                    "x": 1.2836605310440063,
                    "y": -7.976847171783447,
                    "z": -0.1301189512014389
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05750846862793,
                "transform": {
                    "location": {
                        "x": 975.9085083007812,
                        "y": 3326.29296875,
                        "z": 369.2597961425781
                    },
                    "rotation": {
                        "roll": 0.0008034516358748078,
                        "pitch": -0.9221506118774414,
                        "yaw": -80.88245391845703
                    }
                },
                "velocity": {
                    "x": 1.2776474952697754,
                    "y": -7.954514980316162,
                    "z": -0.12942825257778168
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7544555664062,
                        "y": 3422.418701171875,
                        "z": 370.5242004394531
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256103515625,
                        "y": 3438.751220703125,
                        "z": 370.5596923828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.004929736722260714,
                "transform": {
                    "location": {
                        "x": 978.3716430664062,
                        "y": 3272.625244140625,
                        "z": 368.2424011230469
                    },
                    "rotation": {
                        "roll": 0.001834335969761014,
                        "pitch": 0.8807323575019836,
                        "yaw": 92.62114715576172
                    }
                },
                "velocity": {
                    "x": 0.0008530696504749358,
                    "y": -0.004608869552612305,
                    "z": 0.0015273818280547857
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.894954681396484,
                "transform": {
                    "location": {
                        "x": 973.5514526367188,
                        "y": 3318.98095703125,
                        "z": 369.1597595214844
                    },
                    "rotation": {
                        "roll": -0.019256554543972015,
                        "pitch": 0.9841892123222351,
                        "yaw": 98.6723403930664
                    }
                },
                "velocity": {
                    "x": -1.348740816116333,
                    "y": 8.790908813476562,
                    "z": 0.14505334198474884
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.099042892456055,
                "transform": {
                    "location": {
                        "x": 970.4712524414062,
                        "y": 3338.364501953125,
                        "z": 369.4725646972656
                    },
                    "rotation": {
                        "roll": -0.00015257459017448127,
                        "pitch": 0.8278666734695435,
                        "yaw": 99.14620971679688
                    }
                },
                "velocity": {
                    "x": -1.2868926525115967,
                    "y": 7.9952712059021,
                    "z": 0.1185254454612732
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.008729934692383,
                "transform": {
                    "location": {
                        "x": 967.5104370117188,
                        "y": 3356.848876953125,
                        "z": 369.724609375
                    },
                    "rotation": {
                        "roll": -9.154764848062769e-05,
                        "pitch": 0.714362621307373,
                        "yaw": 98.98994445800781
                    }
                },
                "velocity": {
                    "x": -1.2714500427246094,
                    "y": 7.906495094299316,
                    "z": 0.10250791162252426
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 0.00031206454150378704,
                "transform": {
                    "location": {
                        "x": 955.8790283203125,
                        "y": 3403.592529296875,
                        "z": 370.2210388183594
                    },
                    "rotation": {
                        "roll": 0.00023939405218698084,
                        "pitch": 0.6881073713302612,
                        "yaw": 99.138427734375
                    }
                },
                "velocity": {
                    "x": -2.996131661348045e-05,
                    "y": -7.073208507790696e-06,
                    "z": -0.0003105423820670694
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.7089734673500061,
                "transform": {
                    "location": {
                        "x": 957.2793579101562,
                        "y": 3394.8828125,
                        "z": 370.1413269042969
                    },
                    "rotation": {
                        "roll": -3.051740350201726e-05,
                        "pitch": -0.012089434079825878,
                        "yaw": 99.12964630126953
                    }
                },
                "velocity": {
                    "x": -0.11252030730247498,
                    "y": 0.699957013130188,
                    "z": 0.006541728973388672
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.14177140593528748,
        "expert_target_speed": 10.0,
        "target_point": [
            16.020319048956733,
            0.5629397376170773
        ],
        "target_point_next": [
            67.00087877492638,
            1.9691844510578367
        ]
    },
    "125": {
        "acceleration": [
            -0.4994034767150879,
            2.5470924377441406,
            0.05022019147872925
        ],
        "angular_velocity": [
            0.28277263045310974,
            0.31542009115219116,
            0.8848727941513062
        ],
        "forward_vector": [
            -0.1315532773733139,
            0.9911320805549622,
            0.01873764954507351
        ],
        "right_vector": [
            -0.9913057088851929,
            -0.13157892227172852,
            0.00013739615678787231
        ],
        "location": [
            968.9444580078125,
            3329.298583984375,
            369.3302917480469
        ],
        "rotation": [
            -0.007873602211475372,
            1.0736510753631592,
            97.5606918334961
        ],
        "velocity": [
            -1.5738359689712524,
            11.76442813873291,
            0.18535485863685608
        ],
        "speed": 11.869234562036356,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 66.81999969482422,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                957.2473754882812,
                3395.081787109375,
                370.14306640625
            ],
            "velocity": [
                -0.14286236464977264,
                0.8892741203308105,
                0.006568489130586386
            ],
            "speed_kmh": 3.242521541546493,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.0265502929688,
                        "y": 3407.524658203125,
                        "z": 370.55377197265625
                    },
                    "rotation": {
                        "roll": 1.3340627269542438e-08,
                        "pitch": -0.45215165615081787,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.8826293945312,
                        "y": 3406.60595703125,
                        "z": 370.4667053222656
                    },
                    "rotation": {
                        "roll": 1.3340627269542438e-08,
                        "pitch": -0.45215165615081787,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.195196151733398,
                "transform": {
                    "location": {
                        "x": 975.8803100585938,
                        "y": 3281.60498046875,
                        "z": 368.44744873046875
                    },
                    "rotation": {
                        "roll": -0.2508240044116974,
                        "pitch": 1.2511539459228516,
                        "yaw": 85.08487701416016
                    }
                },
                "velocity": {
                    "x": 1.2142384052276611,
                    "y": 4.0124430656433105,
                    "z": 0.15999270975589752
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.743959426879883,
                "transform": {
                    "location": {
                        "x": 972.5811767578125,
                        "y": 3367.309326171875,
                        "z": 369.8421936035156
                    },
                    "rotation": {
                        "roll": 0.0011021187528967857,
                        "pitch": -0.3188810348510742,
                        "yaw": -80.64965057373047
                    }
                },
                "velocity": {
                    "x": 1.4211982488632202,
                    "y": -8.627068519592285,
                    "z": -0.10348326712846756
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.11957836151123,
                "transform": {
                    "location": {
                        "x": 969.4205322265625,
                        "y": 3366.50048828125,
                        "z": 369.83221435546875
                    },
                    "rotation": {
                        "roll": 0.009942926466464996,
                        "pitch": -0.468537300825119,
                        "yaw": -80.64840698242188
                    }
                },
                "velocity": {
                    "x": 1.317121982574463,
                    "y": -8.011457443237305,
                    "z": -0.09644648432731628
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.709877967834473,
                "transform": {
                    "location": {
                        "x": 976.1624145507812,
                        "y": 3299.06982421875,
                        "z": 368.8044738769531
                    },
                    "rotation": {
                        "roll": -0.06674183905124664,
                        "pitch": 1.0987383127212524,
                        "yaw": 95.938232421875
                    }
                },
                "velocity": {
                    "x": -1.018263578414917,
                    "y": 9.654542922973633,
                    "z": 0.18623106181621552
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.031241416931152,
                "transform": {
                    "location": {
                        "x": 979.4292602539062,
                        "y": 3324.847412109375,
                        "z": 369.2279357910156
                    },
                    "rotation": {
                        "roll": 0.005044051446020603,
                        "pitch": -0.9202244877815247,
                        "yaw": -81.0018539428711
                    }
                },
                "velocity": {
                    "x": 1.2474780082702637,
                    "y": -7.932705402374268,
                    "z": -0.12966756522655487
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.058351516723633,
                "transform": {
                    "location": {
                        "x": 976.2238159179688,
                        "y": 3324.3037109375,
                        "z": 369.2274475097656
                    },
                    "rotation": {
                        "roll": 0.004747434984892607,
                        "pitch": -0.921044111251831,
                        "yaw": -80.98223114013672
                    }
                },
                "velocity": {
                    "x": 1.253369927406311,
                    "y": -7.959222316741943,
                    "z": -0.1298666000366211
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7544555664062,
                        "y": 3422.418701171875,
                        "z": 370.5242004394531
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256103515625,
                        "y": 3438.751220703125,
                        "z": 370.5596923828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015972442924976349,
                "transform": {
                    "location": {
                        "x": 978.3715209960938,
                        "y": 3272.627197265625,
                        "z": 368.2429504394531
                    },
                    "rotation": {
                        "roll": -0.007507364731281996,
                        "pitch": 1.2124677896499634,
                        "yaw": 92.62126159667969
                    }
                },
                "velocity": {
                    "x": 0.0001838677271734923,
                    "y": -0.0013551972806453705,
                    "z": 0.0008251194376498461
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.036636352539062,
                "transform": {
                    "location": {
                        "x": 973.1895751953125,
                        "y": 3321.32275390625,
                        "z": 369.1981506347656
                    },
                    "rotation": {
                        "roll": -0.01309200283139944,
                        "pitch": 1.0783365964889526,
                        "yaw": 98.821533203125
                    }
                },
                "velocity": {
                    "x": -1.5388153791427612,
                    "y": 9.916653633117676,
                    "z": 0.1615450084209442
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006447792053223,
                "transform": {
                    "location": {
                        "x": 970.1514892578125,
                        "y": 3340.3525390625,
                        "z": 369.5018615722656
                    },
                    "rotation": {
                        "roll": 0.0005698718596249819,
                        "pitch": 0.8172798752784729,
                        "yaw": 99.1126708984375
                    }
                },
                "velocity": {
                    "x": -1.2704999446868896,
                    "y": 7.904162406921387,
                    "z": 0.11510537564754486
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.076249122619629,
                "transform": {
                    "location": {
                        "x": 967.1911010742188,
                        "y": 3358.834228515625,
                        "z": 369.7494812011719
                    },
                    "rotation": {
                        "roll": -0.002258291933685541,
                        "pitch": 0.6978267431259155,
                        "yaw": 98.9929428100586
                    }
                },
                "velocity": {
                    "x": -1.2830369472503662,
                    "y": 7.9731035232543945,
                    "z": 0.09613756090402603
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.3472402095794678,
                "transform": {
                    "location": {
                        "x": 955.8600463867188,
                        "y": 3403.7099609375,
                        "z": 370.2209167480469
                    },
                    "rotation": {
                        "roll": 0.0013186985161155462,
                        "pitch": 0.001188452821224928,
                        "yaw": 99.14109802246094
                    }
                },
                "velocity": {
                    "x": -0.21434739232063293,
                    "y": 1.3300402164459229,
                    "z": 0.010223274119198322
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 0.9007003903388977,
                "transform": {
                    "location": {
                        "x": 957.2473754882812,
                        "y": 3395.081787109375,
                        "z": 370.14306640625
                    },
                    "rotation": {
                        "roll": 0.00013129106082487851,
                        "pitch": 0.03387773782014847,
                        "yaw": 99.12952423095703
                    }
                },
                "velocity": {
                    "x": -0.14286236464977264,
                    "y": 0.8892741203308105,
                    "z": 0.006568489130586386
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.17562364041805267,
        "expert_target_speed": 10.0,
        "target_point": [
            13.120135786504724,
            0.5638249510787514
        ],
        "target_point_next": [
            64.1006502239602,
            1.9717105499933876
        ]
    },
    "130": {
        "acceleration": [
            -1.0477280616760254,
            2.8641319274902344,
            0.05207270383834839
        ],
        "angular_velocity": [
            0.2616810202598572,
            0.5743384957313538,
            2.6366615295410156
        ],
        "forward_vector": [
            -0.1382506638765335,
            0.9901884198188782,
            0.020336773246526718
        ],
        "right_vector": [
            -0.9903869032859802,
            -0.13831385970115662,
            0.0017280344618484378
        ],
        "location": [
            968.5296630859375,
            3332.326904296875,
            369.3772277832031
        ],
        "rotation": [
            -0.09902961552143097,
            1.165291666984558,
            97.94828796386719
        ],
        "velocity": [
            -1.7676160335540771,
            12.452689170837402,
            0.19378726184368134
        ],
        "speed": 12.577517005656107,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 64.01976776123047,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                957.20703125,
                3395.332763671875,
                370.1452331542969
            ],
            "velocity": [
                -0.17892858386039734,
                1.1034668684005737,
                0.009800300002098083
            ],
            "speed_kmh": 4.024520835209581,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.3532104492188,
                        "y": 3405.494384765625,
                        "z": 370.28155517578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4876413345336914,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.2106323242188,
                        "y": 3404.56689453125,
                        "z": 370.27386474609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.4876413345336914,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8816583156585693,
                "transform": {
                    "location": {
                        "x": 976.059326171875,
                        "y": 3282.596435546875,
                        "z": 368.4744873046875
                    },
                    "rotation": {
                        "roll": -0.09509269893169403,
                        "pitch": 1.2407652139663696,
                        "yaw": 82.8968734741211
                    }
                },
                "velocity": {
                    "x": 0.41210490465164185,
                    "y": 3.858867645263672,
                    "z": 0.08112462610006332
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.330026626586914,
                "transform": {
                    "location": {
                        "x": 972.9276123046875,
                        "y": 3365.19970703125,
                        "z": 369.81988525390625
                    },
                    "rotation": {
                        "roll": 0.005498668644577265,
                        "pitch": -0.7302564382553101,
                        "yaw": -80.6941909790039
                    }
                },
                "velocity": {
                    "x": 1.3424131870269775,
                    "y": -8.220538139343262,
                    "z": -0.10010702908039093
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.840491771697998,
                "transform": {
                    "location": {
                        "x": 969.7394409179688,
                        "y": 3364.554931640625,
                        "z": 369.8097229003906
                    },
                    "rotation": {
                        "roll": 0.012703713029623032,
                        "pitch": -0.7292797565460205,
                        "yaw": -80.70295715332031
                    }
                },
                "velocity": {
                    "x": 1.2612438201904297,
                    "y": -7.73781156539917,
                    "z": -0.0940331444144249
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.508572578430176,
                "transform": {
                    "location": {
                        "x": 975.8878173828125,
                        "y": 3301.60595703125,
                        "z": 368.85302734375
                    },
                    "rotation": {
                        "roll": -0.03927619382739067,
                        "pitch": 1.1826130151748657,
                        "yaw": 96.277587890625
                    }
                },
                "velocity": {
                    "x": -1.1475520133972168,
                    "y": 10.443827629089355,
                    "z": 0.19921474158763885
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.082014083862305,
                "transform": {
                    "location": {
                        "x": 979.7422485351562,
                        "y": 3322.858154296875,
                        "z": 369.1956481933594
                    },
                    "rotation": {
                        "roll": 0.001572958892211318,
                        "pitch": -0.9164064526557922,
                        "yaw": -81.0713119506836
                    }
                },
                "velocity": {
                    "x": 1.2542824745178223,
                    "y": -7.983083248138428,
                    "z": -0.12694182991981506
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.056967735290527,
                "transform": {
                    "location": {
                        "x": 976.537109375,
                        "y": 3322.31396484375,
                        "z": 369.1951904296875
                    },
                    "rotation": {
                        "roll": 0.005522439256310463,
                        "pitch": -0.9200127720832825,
                        "yaw": -81.08199310302734
                    }
                },
                "velocity": {
                    "x": 1.2482701539993286,
                    "y": -7.958615779876709,
                    "z": -0.13033422827720642
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7276611328125,
                        "y": 3422.584228515625,
                        "z": 370.5113525390625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256103515625,
                        "y": 3438.751220703125,
                        "z": 370.5596923828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.3714599609375,
                        "y": 3272.62744140625,
                        "z": 368.24310302734375
                    },
                    "rotation": {
                        "roll": -0.010253838263452053,
                        "pitch": 1.2849907875061035,
                        "yaw": 92.62134552001953
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.687349319458008,
                "transform": {
                    "location": {
                        "x": 972.7988891601562,
                        "y": 3323.8115234375,
                        "z": 369.23834228515625
                    },
                    "rotation": {
                        "roll": -0.01324457861483097,
                        "pitch": 0.916686475276947,
                        "yaw": 98.9522705078125
                    }
                },
                "velocity": {
                    "x": -1.5097346305847168,
                    "y": 9.567737579345703,
                    "z": 0.15441831946372986
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.01390552520752,
                "transform": {
                    "location": {
                        "x": 969.833984375,
                        "y": 3342.326904296875,
                        "z": 369.5304260253906
                    },
                    "rotation": {
                        "roll": 0.00011951378837693483,
                        "pitch": 0.817703366279602,
                        "yaw": 99.15839385986328
                    }
                },
                "velocity": {
                    "x": -1.272882342338562,
                    "y": 7.911332607269287,
                    "z": 0.11521976441144943
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.01046085357666,
                "transform": {
                    "location": {
                        "x": 966.8713989257812,
                        "y": 3360.819091796875,
                        "z": 369.7736511230469
                    },
                    "rotation": {
                        "roll": -0.002197322901338339,
                        "pitch": 0.6982365250587463,
                        "yaw": 98.9935531616211
                    }
                },
                "velocity": {
                    "x": -1.2752546072006226,
                    "y": 7.907726287841797,
                    "z": 0.0952659398317337
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.5275633335113525,
                "transform": {
                    "location": {
                        "x": 955.8023071289062,
                        "y": 3404.069091796875,
                        "z": 370.2244873046875
                    },
                    "rotation": {
                        "roll": -0.001525884261354804,
                        "pitch": 0.4354655146598816,
                        "yaw": 99.13799285888672
                    }
                },
                "velocity": {
                    "x": -0.24142533540725708,
                    "y": 1.5083227157592773,
                    "z": 0.011232452467083931
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.1179224252700806,
                "transform": {
                    "location": {
                        "x": 957.20703125,
                        "y": 3395.332763671875,
                        "z": 370.1452331542969
                    },
                    "rotation": {
                        "roll": 0.002960059093311429,
                        "pitch": 0.04671166092157364,
                        "yaw": 99.13835144042969
                    }
                },
                "velocity": {
                    "x": -0.17892858386039734,
                    "y": 1.1034668684005737,
                    "z": 0.009800300002098083
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.18381032347679138,
        "expert_target_speed": 10.0,
        "target_point": [
            10.06706459893911,
            0.4829897049116316
        ],
        "target_point_next": [
            61.05593764238654,
            1.545919583331706
        ]
    },
    "135": {
        "acceleration": [
            -1.3368034362792969,
            3.2134246826171875,
            0.03955423831939697
        ],
        "angular_velocity": [
            0.20385296642780304,
            0.352226585149765,
            3.838884115219116
        ],
        "forward_vector": [
            -0.1532294899225235,
            0.9879539012908936,
            0.021627049893140793
        ],
        "right_vector": [
            -0.9881664514541626,
            -0.15334206819534302,
            0.0036364856641739607
        ],
        "location": [
            968.0503540039062,
            3335.54248046875,
            369.42718505859375
        ],
        "rotation": [
            -0.20840448141098022,
            1.239235281944275,
            98.81620788574219
        ],
        "velocity": [
            -2.0781664848327637,
            13.239838600158691,
            0.20625953376293182
        ],
        "speed": 13.401943967086797,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 61.07762145996094,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                957.158203125,
                3395.63671875,
                370.1479187011719
            ],
            "velocity": [
                -0.21044385433197021,
                1.319277286529541,
                0.010365724563598633
            ],
            "speed_kmh": 4.8095873660644175,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.090705871582031,
                "transform": {
                    "location": {
                        "x": 966.6786499023438,
                        "y": 3403.47314453125,
                        "z": 370.2408142089844
                    },
                    "rotation": {
                        "roll": -0.0014648201176896691,
                        "pitch": -0.5388745665550232,
                        "yaw": -80.8478775024414
                    }
                },
                "velocity": {
                    "x": 1.1373170614242554,
                    "y": -6.995751857757568,
                    "z": -0.20993821322917938
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.713000297546387,
                "transform": {
                    "location": {
                        "x": 963.5243530273438,
                        "y": 3402.62451171875,
                        "z": 370.2326965332031
                    },
                    "rotation": {
                        "roll": -0.012847871519625187,
                        "pitch": -0.716917097568512,
                        "yaw": -80.79961395263672
                    }
                },
                "velocity": {
                    "x": 1.0929243564605713,
                    "y": -6.621391296386719,
                    "z": -0.16451720893383026
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.742082595825195,
                "transform": {
                    "location": {
                        "x": 976.1758422851562,
                        "y": 3283.65869140625,
                        "z": 368.4970703125
                    },
                    "rotation": {
                        "roll": -0.20278924703598022,
                        "pitch": 1.1463173627853394,
                        "yaw": 83.33372497558594
                    }
                },
                "velocity": {
                    "x": 0.5016988515853882,
                    "y": 4.714455604553223,
                    "z": 0.09775523841381073
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.921311855316162,
                "transform": {
                    "location": {
                        "x": 973.2531127929688,
                        "y": 3363.204345703125,
                        "z": 369.7964782714844
                    },
                    "rotation": {
                        "roll": 0.00425848551094532,
                        "pitch": -0.8573594689369202,
                        "yaw": -80.75528717041016
                    }
                },
                "velocity": {
                    "x": 1.270979404449463,
                    "y": -7.818079471588135,
                    "z": -0.09709158539772034
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.178011894226074,
                "transform": {
                    "location": {
                        "x": 970.0625610351562,
                        "y": 3362.570556640625,
                        "z": 369.7850341796875
                    },
                    "rotation": {
                        "roll": 0.008836028166115284,
                        "pitch": -0.6324754953384399,
                        "yaw": -80.75605773925781
                    }
                },
                "velocity": {
                    "x": 1.3116105794906616,
                    "y": -8.071533203125,
                    "z": -0.09956220537424088
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.512922286987305,
                "transform": {
                    "location": {
                        "x": 975.5986328125,
                        "y": 3304.088623046875,
                        "z": 368.89935302734375
                    },
                    "rotation": {
                        "roll": -0.044067397713661194,
                        "pitch": 0.9705151915550232,
                        "yaw": 96.79276275634766
                    }
                },
                "velocity": {
                    "x": -1.1315157413482666,
                    "y": 9.443743705749512,
                    "z": 0.1762717068195343
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02982234954834,
                "transform": {
                    "location": {
                        "x": 980.05029296875,
                        "y": 3320.8681640625,
                        "z": 369.1635437011719
                    },
                    "rotation": {
                        "roll": 0.010163875296711922,
                        "pitch": -0.9168981909751892,
                        "yaw": -81.24591827392578
                    }
                },
                "velocity": {
                    "x": 1.1951797008514404,
                    "y": -7.939342498779297,
                    "z": -0.12815327942371368
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057745933532715,
                "transform": {
                    "location": {
                        "x": 976.8450317382812,
                        "y": 3320.32373046875,
                        "z": 369.162841796875
                    },
                    "rotation": {
                        "roll": 0.00891481339931488,
                        "pitch": -0.920258641242981,
                        "yaw": -81.22871398925781
                    }
                },
                "velocity": {
                    "x": 1.200530767440796,
                    "y": -7.966733932495117,
                    "z": -0.13096390664577484
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.6180419921875,
                        "y": 3423.263916015625,
                        "z": 370.458984375
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256103515625,
                        "y": 3438.751220703125,
                        "z": 370.5596923828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0883791446685791,
                "transform": {
                    "location": {
                        "x": 978.3712158203125,
                        "y": 3272.631591796875,
                        "z": 368.2431945800781
                    },
                    "rotation": {
                        "roll": -0.010833614505827427,
                        "pitch": 1.3155626058578491,
                        "yaw": 92.61808013916016
                    }
                },
                "velocity": {
                    "x": -0.005946623161435127,
                    "y": 0.08812305331230164,
                    "z": 0.0031366730108857155
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.35246467590332,
                "transform": {
                    "location": {
                        "x": 972.4494018554688,
                        "y": 3326.01806640625,
                        "z": 369.2738342285156
                    },
                    "rotation": {
                        "roll": -0.006713890936225653,
                        "pitch": 0.7590457201004028,
                        "yaw": 99.02723693847656
                    }
                },
                "velocity": {
                    "x": -1.3091508150100708,
                    "y": 8.248133659362793,
                    "z": 0.13450445234775543
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034639358520508,
                "transform": {
                    "location": {
                        "x": 969.5149536132812,
                        "y": 3344.30859375,
                        "z": 369.5592956542969
                    },
                    "rotation": {
                        "roll": -0.0005798778729513288,
                        "pitch": 0.8166173696517944,
                        "yaw": 99.11955261230469
                    }
                },
                "velocity": {
                    "x": -1.2757445573806763,
                    "y": 7.931872844696045,
                    "z": 0.11534570157527924
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.07622241973877,
                "transform": {
                    "location": {
                        "x": 966.5520629882812,
                        "y": 3362.80419921875,
                        "z": 369.7980041503906
                    },
                    "rotation": {
                        "roll": -0.0015258877538144588,
                        "pitch": 0.701337456703186,
                        "yaw": 98.99143981933594
                    }
                },
                "velocity": {
                    "x": -1.282342553138733,
                    "y": 7.973179340362549,
                    "z": 0.09682872891426086
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.7626731395721436,
                "transform": {
                    "location": {
                        "x": 955.7386474609375,
                        "y": 3404.464599609375,
                        "z": 370.22772216796875
                    },
                    "rotation": {
                        "roll": 0.0004366680805105716,
                        "pitch": 0.49413001537323,
                        "yaw": 99.14352416992188
                    }
                },
                "velocity": {
                    "x": -0.2799137234687805,
                    "y": 1.7402573823928833,
                    "z": 0.012998132035136223
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.3359965085983276,
                "transform": {
                    "location": {
                        "x": 957.158203125,
                        "y": 3395.63671875,
                        "z": 370.1479187011719
                    },
                    "rotation": {
                        "roll": -0.0012817364186048508,
                        "pitch": 0.04199200123548508,
                        "yaw": 99.12106323242188
                    }
                },
                "velocity": {
                    "x": -0.21044385433197021,
                    "y": 1.319277286529541,
                    "z": 0.010365724563598633
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1524597555398941,
        "expert_target_speed": 10.0,
        "target_point": [
            57.82130267342558,
            0.6401815823971333
        ],
        "target_point_next": [
            108.82041668079088,
            0.9306560967434621
        ]
    },
    "140": {
        "acceleration": [
            -1.2053203582763672,
            3.2728004455566406,
            0.00981748104095459
        ],
        "angular_velocity": [
            -0.1994495987892151,
            -0.08653762191534042,
            2.778930902481079
        ],
        "forward_vector": [
            -0.1677403748035431,
            0.9856020212173462,
            0.021257227286696434
        ],
        "right_vector": [
            -0.9858015179634094,
            -0.16786372661590576,
            0.004145592451095581
        ],
        "location": [
            967.4918823242188,
            3338.958740234375,
            369.4791259765625
        ],
        "rotation": [
            -0.2375793159008026,
            1.218041181564331,
            99.6586685180664
        ],
        "velocity": [
            -2.393948554992676,
            14.05617618560791,
            0.20814579725265503
        ],
        "speed": 14.258579124330813,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.9783821105957,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                957.1007080078125,
                3395.994384765625,
                370.15093994140625
            ],
            "velocity": [
                -0.24671678245067596,
                1.5319057703018188,
                0.013869943097233772
            ],
            "speed_kmh": 5.586147776735102,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.812268257141113,
                "transform": {
                    "location": {
                        "x": 966.964599609375,
                        "y": 3401.7861328125,
                        "z": 370.20025634765625
                    },
                    "rotation": {
                        "roll": -0.015472403727471828,
                        "pitch": -0.5311496257781982,
                        "yaw": -80.38847351074219
                    }
                },
                "velocity": {
                    "x": 1.175257921218872,
                    "y": -6.709240436553955,
                    "z": -0.10889829695224762
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.941683292388916,
                "transform": {
                    "location": {
                        "x": 963.8114013671875,
                        "y": 3400.93994140625,
                        "z": 370.2033996582031
                    },
                    "rotation": {
                        "roll": -0.024871816858649254,
                        "pitch": -0.5577054023742676,
                        "yaw": -80.33080291748047
                    }
                },
                "velocity": {
                    "x": 1.1833633184432983,
                    "y": -6.839541435241699,
                    "z": -0.0853821337223053
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.323891639709473,
                "transform": {
                    "location": {
                        "x": 976.313720703125,
                        "y": 3284.93359375,
                        "z": 368.5242614746094
                    },
                    "rotation": {
                        "roll": -0.22366322576999664,
                        "pitch": 1.1390501260757446,
                        "yaw": 83.63455200195312
                    }
                },
                "velocity": {
                    "x": 0.5612478256225586,
                    "y": 5.293065071105957,
                    "z": 0.11084175109863281
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.045393943786621,
                "transform": {
                    "location": {
                        "x": 973.5718383789062,
                        "y": 3361.24169921875,
                        "z": 369.7709045410156
                    },
                    "rotation": {
                        "roll": 0.002306430134922266,
                        "pitch": -0.7042539119720459,
                        "yaw": -80.788330078125
                    }
                },
                "velocity": {
                    "x": 1.2861558198928833,
                    "y": -7.941342830657959,
                    "z": -0.09616873413324356
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.984002113342285,
                "transform": {
                    "location": {
                        "x": 970.3870849609375,
                        "y": 3360.5732421875,
                        "z": 369.7607727050781
                    },
                    "rotation": {
                        "roll": 0.004778249189257622,
                        "pitch": -0.7151753902435303,
                        "yaw": -80.77385711669922
                    }
                },
                "velocity": {
                    "x": 1.2773436307907104,
                    "y": -7.880547523498535,
                    "z": -0.09824613481760025
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.77411937713623,
                "transform": {
                    "location": {
                        "x": 975.309814453125,
                        "y": 3306.453369140625,
                        "z": 368.9429931640625
                    },
                    "rotation": {
                        "roll": -0.029083283618092537,
                        "pitch": 1.049157977104187,
                        "yaw": 97.04546356201172
                    }
                },
                "velocity": {
                    "x": -1.1979544162750244,
                    "y": 9.698820114135742,
                    "z": 0.1766332983970642
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081546783447266,
                "transform": {
                    "location": {
                        "x": 980.3501586914062,
                        "y": 3318.87646484375,
                        "z": 369.13134765625
                    },
                    "rotation": {
                        "roll": 0.0045592086389660835,
                        "pitch": -0.9226970076560974,
                        "yaw": -81.46590423583984
                    }
                },
                "velocity": {
                    "x": 1.192209243774414,
                    "y": -7.9920549392700195,
                    "z": -0.13073457777500153
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057888984680176,
                "transform": {
                    "location": {
                        "x": 977.1451416015625,
                        "y": 3318.331787109375,
                        "z": 369.13037109375
                    },
                    "rotation": {
                        "roll": 0.004727167543023825,
                        "pitch": -0.9308454394340515,
                        "yaw": -81.4811782836914
                    }
                },
                "velocity": {
                    "x": 1.1880122423171997,
                    "y": -7.968749046325684,
                    "z": -0.13128696382045746
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.4860229492188,
                        "y": 3424.084228515625,
                        "z": 370.3959045410156
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1256103515625,
                        "y": 3438.751220703125,
                        "z": 370.5596923828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7574421763420105,
                "transform": {
                    "location": {
                        "x": 978.365234375,
                        "y": 3272.731201171875,
                        "z": 368.24560546875
                    },
                    "rotation": {
                        "roll": -0.012542729265987873,
                        "pitch": 1.397395133972168,
                        "yaw": 92.67317199707031
                    }
                },
                "velocity": {
                    "x": -0.043606098741292953,
                    "y": 0.7559724450111389,
                    "z": 0.017965354025363922
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.548866271972656,
                "transform": {
                    "location": {
                        "x": 972.121826171875,
                        "y": 3328.0751953125,
                        "z": 369.3072204589844
                    },
                    "rotation": {
                        "roll": -0.006347594317048788,
                        "pitch": 0.8952054977416992,
                        "yaw": 99.04773712158203
                    }
                },
                "velocity": {
                    "x": -1.3470698595046997,
                    "y": 8.44098949432373,
                    "z": 0.134928897023201
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.021292686462402,
                "transform": {
                    "location": {
                        "x": 969.1962890625,
                        "y": 3346.2900390625,
                        "z": 369.58782958984375
                    },
                    "rotation": {
                        "roll": 0.0004720507131423801,
                        "pitch": 0.8110712766647339,
                        "yaw": 99.16036987304688
                    }
                },
                "velocity": {
                    "x": -1.275840401649475,
                    "y": 7.9184136390686035,
                    "z": 0.10998351871967316
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.01171875,
                "transform": {
                    "location": {
                        "x": 966.2327270507812,
                        "y": 3364.78955078125,
                        "z": 369.8221740722656
                    },
                    "rotation": {
                        "roll": -0.001190193579532206,
                        "pitch": 0.6909555792808533,
                        "yaw": 98.982177734375
                    }
                },
                "velocity": {
                    "x": -1.2733495235443115,
                    "y": 7.909311294555664,
                    "z": 0.09493880718946457
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 1.9553478956222534,
                "transform": {
                    "location": {
                        "x": 955.6643676757812,
                        "y": 3404.925537109375,
                        "z": 370.2312316894531
                    },
                    "rotation": {
                        "roll": 0.0014114005025476217,
                        "pitch": 0.5256786346435547,
                        "yaw": 99.1445541381836
                    }
                },
                "velocity": {
                    "x": -0.31076279282569885,
                    "y": 1.9304460287094116,
                    "z": 0.013785848394036293
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.5517077445983887,
                "transform": {
                    "location": {
                        "x": 957.1007080078125,
                        "y": 3395.994384765625,
                        "z": 370.15093994140625
                    },
                    "rotation": {
                        "roll": 0.00028542891959659755,
                        "pitch": 0.04220373556017876,
                        "yaw": 99.13335418701172
                    }
                },
                "velocity": {
                    "x": -0.24671678245067596,
                    "y": 1.5319057703018188,
                    "z": 0.013869943097233772
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.10819179564714432,
        "expert_target_speed": 10.0,
        "target_point": [
            54.36293200519959,
            -0.18747005113120707
        ],
        "target_point_next": [
            105.36080368278608,
            -0.6469146464324922
        ]
    },
    "145": {
        "acceleration": [
            -0.9651994705200195,
            3.2525062561035156,
            0.04767388105392456
        ],
        "angular_velocity": [
            0.07360249757766724,
            -0.20390620827674866,
            1.2515496015548706
        ],
        "forward_vector": [
            -0.1756265014410019,
            0.9842263460159302,
            0.021302519366145134
        ],
        "right_vector": [
            -0.9844323396682739,
            -0.17573364078998566,
            0.003252041293308139
        ],
        "location": [
            966.8614501953125,
            3342.57958984375,
            369.53173828125
        ],
        "rotation": [
            -0.1863708645105362,
            1.2206367254257202,
            100.11743927001953
        ],
        "velocity": [
            -2.6480844020843506,
            14.874247550964355,
            0.21440894901752472
        ],
        "speed": 15.1081299705798,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 54.717926025390625,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                957.0347290039062,
                3396.404296875,
                370.1545104980469
            ],
            "velocity": [
                -0.27989500761032104,
                1.7411952018737793,
                0.014285306446254253
            ],
            "speed_kmh": 6.348981490850841,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.886141300201416,
                "transform": {
                    "location": {
                        "x": 967.255126953125,
                        "y": 3400.098388671875,
                        "z": 370.1794738769531
                    },
                    "rotation": {
                        "roll": -0.004150351043790579,
                        "pitch": -0.49938926100730896,
                        "yaw": -80.25746154785156
                    }
                },
                "velocity": {
                    "x": 1.1493040323257446,
                    "y": -6.78921365737915,
                    "z": -0.06797221302986145
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.728503227233887,
                "transform": {
                    "location": {
                        "x": 964.0997924804688,
                        "y": 3399.256591796875,
                        "z": 370.1858215332031
                    },
                    "rotation": {
                        "roll": -0.00582886440679431,
                        "pitch": -0.5111371874809265,
                        "yaw": -80.30168151855469
                    }
                },
                "velocity": {
                    "x": 1.1282835006713867,
                    "y": -6.632941722869873,
                    "z": -0.061813000589609146
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.707518100738525,
                "transform": {
                    "location": {
                        "x": 976.462158203125,
                        "y": 3286.326416015625,
                        "z": 368.5531921386719
                    },
                    "rotation": {
                        "roll": -0.22796624898910522,
                        "pitch": 1.1305806636810303,
                        "yaw": 83.76594543457031
                    }
                },
                "velocity": {
                    "x": 0.5993220210075378,
                    "y": 5.674745559692383,
                    "z": 0.11764983832836151
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.155421257019043,
                "transform": {
                    "location": {
                        "x": 973.8966064453125,
                        "y": 3359.23486328125,
                        "z": 369.7459411621094
                    },
                    "rotation": {
                        "roll": 0.0032103885896503925,
                        "pitch": -0.6396130323410034,
                        "yaw": -80.81578063964844
                    }
                },
                "velocity": {
                    "x": 1.3000842332839966,
                    "y": -8.050533294677734,
                    "z": -0.0979522094130516
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.015239715576172,
                "transform": {
                    "location": {
                        "x": 970.7052612304688,
                        "y": 3358.607177734375,
                        "z": 369.7364501953125
                    },
                    "rotation": {
                        "roll": 0.005491822957992554,
                        "pitch": -0.7179552912712097,
                        "yaw": -80.81002044677734
                    }
                },
                "velocity": {
                    "x": 1.2781257629394531,
                    "y": -7.912094593048096,
                    "z": -0.09601912647485733
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.210689544677734,
                "transform": {
                    "location": {
                        "x": 974.9828491210938,
                        "y": 3308.974365234375,
                        "z": 368.9884338378906
                    },
                    "rotation": {
                        "roll": -0.0348510704934597,
                        "pitch": 1.0731592178344727,
                        "yaw": 97.50454711914062
                    }
                },
                "velocity": {
                    "x": -1.338189721107483,
                    "y": 10.121007919311523,
                    "z": 0.18065862357616425
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.031288146972656,
                "transform": {
                    "location": {
                        "x": 980.647216796875,
                        "y": 3316.88525390625,
                        "z": 369.0985412597656
                    },
                    "rotation": {
                        "roll": -0.0026245329063385725,
                        "pitch": -0.9398749470710754,
                        "yaw": -81.52877044677734
                    }
                },
                "velocity": {
                    "x": 1.1830137968063354,
                    "y": -7.942604064941406,
                    "z": -0.1307801753282547
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.058143615722656,
                "transform": {
                    "location": {
                        "x": 977.4423828125,
                        "y": 3316.33984375,
                        "z": 369.0973815917969
                    },
                    "rotation": {
                        "roll": -0.0027465939056128263,
                        "pitch": -0.9502295255661011,
                        "yaw": -81.50340270996094
                    }
                },
                "velocity": {
                    "x": 1.1884361505508423,
                    "y": -7.968926906585693,
                    "z": -0.13231728971004486
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.3675537109375,
                        "y": 3424.819580078125,
                        "z": 370.3995666503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.1240234375,
                        "y": 3438.759521484375,
                        "z": 370.5574035644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6359164714813232,
                "transform": {
                    "location": {
                        "x": 978.3473510742188,
                        "y": 3273.041748046875,
                        "z": 368.2528076171875
                    },
                    "rotation": {
                        "roll": -0.01092530321329832,
                        "pitch": 1.4413474798202515,
                        "yaw": 92.79317474365234
                    }
                },
                "velocity": {
                    "x": -0.0935424193739891,
                    "y": 1.6327893733978271,
                    "z": 0.03835845738649368
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.199050903320312,
                "transform": {
                    "location": {
                        "x": 971.7844848632812,
                        "y": 3330.18408203125,
                        "z": 369.34075927734375
                    },
                    "rotation": {
                        "roll": -0.004028298892080784,
                        "pitch": 0.8422101140022278,
                        "yaw": 99.1128158569336
                    }
                },
                "velocity": {
                    "x": -1.2971861362457275,
                    "y": 8.094786643981934,
                    "z": 0.12715551257133484
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.023094177246094,
                "transform": {
                    "location": {
                        "x": 968.8775634765625,
                        "y": 3348.269287109375,
                        "z": 369.6152648925781
                    },
                    "rotation": {
                        "roll": -0.0012512089451774955,
                        "pitch": 0.7615182399749756,
                        "yaw": 99.12162017822266
                    }
                },
                "velocity": {
                    "x": -1.2715290784835815,
                    "y": 7.92096471786499,
                    "z": 0.1075659692287445
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.075838088989258,
                "transform": {
                    "location": {
                        "x": 965.9130859375,
                        "y": 3366.774658203125,
                        "z": 369.8460388183594
                    },
                    "rotation": {
                        "roll": -3.0471119316644035e-05,
                        "pitch": 0.668812096118927,
                        "yaw": 98.996337890625
                    }
                },
                "velocity": {
                    "x": -1.2819448709487915,
                    "y": 7.972864151000977,
                    "z": 0.09595044702291489
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.0923044681549072,
                "transform": {
                    "location": {
                        "x": 955.5840454101562,
                        "y": 3405.4248046875,
                        "z": 370.2350769042969
                    },
                    "rotation": {
                        "roll": -0.00021361446124501526,
                        "pitch": 0.5810987949371338,
                        "yaw": 99.14500427246094
                    }
                },
                "velocity": {
                    "x": -0.332552433013916,
                    "y": 2.0656557083129883,
                    "z": 0.014619740657508373
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.7636059522628784,
                "transform": {
                    "location": {
                        "x": 957.0347290039062,
                        "y": 3396.404296875,
                        "z": 370.1545104980469
                    },
                    "rotation": {
                        "roll": -0.00012207131658215076,
                        "pitch": 0.04609011486172676,
                        "yaw": 99.13248443603516
                    }
                },
                "velocity": {
                    "x": -0.27989500761032104,
                    "y": 1.7411952018737793,
                    "z": 0.014285306446254253
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.06558385491371155,
        "expert_target_speed": 10.0,
        "target_point": [
            50.684397873531715,
            -0.6073261477218619
        ],
        "target_point_next": [
            101.67695578736216,
            -1.475106295211443
        ]
    },
    "150": {
        "acceleration": [
            -0.7843589782714844,
            3.885478973388672,
            -0.041217803955078125
        ],
        "angular_velocity": [
            0.2416532039642334,
            -0.3075251877307892,
            0.1683296412229538
        ],
        "forward_vector": [
            -0.17844577133655548,
            0.9837491512298584,
            0.019867543131113052
        ],
        "right_vector": [
            -0.9839351773262024,
            -0.1785164624452591,
            0.0018292291788384318
        ],
        "location": [
            966.1858520507812,
            3346.342041015625,
            369.58624267578125
        ],
        "rotation": [
            -0.1048278659582138,
            1.1384012699127197,
            100.28129577636719
        ],
        "velocity": [
            -2.793264150619507,
            15.434698104858398,
            0.21660536527633667
        ],
        "speed": 15.68541456905923,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.363182067871094,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                956.96044921875,
                3396.86669921875,
                370.1584777832031
            ],
            "velocity": [
                -0.31308645009994507,
                1.9488754272460938,
                0.01721164584159851
            ],
            "speed_kmh": 7.106180054571147,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.7535400390625,
                "transform": {
                    "location": {
                        "x": 967.5177612304688,
                        "y": 3398.547119140625,
                        "z": 370.1653747558594
                    },
                    "rotation": {
                        "roll": -0.0032959063537418842,
                        "pitch": -0.5529174208641052,
                        "yaw": -80.3496322631836
                    }
                },
                "velocity": {
                    "x": 0.9563872814178467,
                    "y": -5.673258304595947,
                    "z": -0.051812443882226944
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.79141092300415,
                "transform": {
                    "location": {
                        "x": 964.357421875,
                        "y": 3397.737060546875,
                        "z": 370.17205810546875
                    },
                    "rotation": {
                        "roll": -0.0015563846100121737,
                        "pitch": -0.6116297245025635,
                        "yaw": -80.38359832763672
                    }
                },
                "velocity": {
                    "x": 0.9659459590911865,
                    "y": -5.710061550140381,
                    "z": -0.05085066333413124
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.386752128601074,
                "transform": {
                    "location": {
                        "x": 976.5850830078125,
                        "y": 3287.9501953125,
                        "z": 368.58782958984375
                    },
                    "rotation": {
                        "roll": -0.03677370399236679,
                        "pitch": 1.034541368484497,
                        "yaw": 85.5999984741211
                    }
                },
                "velocity": {
                    "x": 0.0645705983042717,
                    "y": 7.384851455688477,
                    "z": 0.1546294242143631
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.091782569885254,
                "transform": {
                    "location": {
                        "x": 974.2203979492188,
                        "y": 3357.23046875,
                        "z": 369.7212829589844
                    },
                    "rotation": {
                        "roll": 0.00021330098388716578,
                        "pitch": -0.737305223941803,
                        "yaw": -80.83296966552734
                    }
                },
                "velocity": {
                    "x": 1.289124608039856,
                    "y": -7.987752914428711,
                    "z": -0.10447800159454346
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.071914672851562,
                "transform": {
                    "location": {
                        "x": 971.0270385742188,
                        "y": 3356.616455078125,
                        "z": 369.7113952636719
                    },
                    "rotation": {
                        "roll": 0.002926081884652376,
                        "pitch": -0.7125867605209351,
                        "yaw": -80.8229751586914
                    }
                },
                "velocity": {
                    "x": 1.287018060684204,
                    "y": -7.967979431152344,
                    "z": -0.10340381413698196
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.853692054748535,
                "transform": {
                    "location": {
                        "x": 974.6657104492188,
                        "y": 3311.3408203125,
                        "z": 369.0299377441406
                    },
                    "rotation": {
                        "roll": -0.020080577582120895,
                        "pitch": 0.8529266715049744,
                        "yaw": 97.7101821899414
                    }
                },
                "velocity": {
                    "x": -1.1857013702392578,
                    "y": 8.772611618041992,
                    "z": 0.15246132016181946
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081921577453613,
                "transform": {
                    "location": {
                        "x": 980.932861328125,
                        "y": 3314.891845703125,
                        "z": 369.0653076171875
                    },
                    "rotation": {
                        "roll": 0.006130045745521784,
                        "pitch": -0.9588629007339478,
                        "yaw": -81.87890625
                    }
                },
                "velocity": {
                    "x": 1.1206567287445068,
                    "y": -8.00268268585205,
                    "z": -0.13655179738998413
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057765007019043,
                "transform": {
                    "location": {
                        "x": 977.728515625,
                        "y": 3314.34619140625,
                        "z": 369.0637512207031
                    },
                    "rotation": {
                        "roll": 0.008233736269176006,
                        "pitch": -0.9660618901252747,
                        "yaw": -81.89479064941406
                    }
                },
                "velocity": {
                    "x": 1.1159082651138306,
                    "y": -7.978981018066406,
                    "z": -0.13484129309654236
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.1690673828125,
                        "y": 3426.053466796875,
                        "z": 370.4037780761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.050537109375,
                        "y": 3439.217529296875,
                        "z": 370.4768371582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.28515625,
                        "y": 3275.53955078125,
                        "z": 368.3104553222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2872241735458374,
                        "yaw": 93.52446746826172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.8940229415893555,
                "transform": {
                    "location": {
                        "x": 971.471923828125,
                        "y": 3332.135009765625,
                        "z": 369.3712463378906
                    },
                    "rotation": {
                        "roll": -0.0025329669006168842,
                        "pitch": 0.8431253433227539,
                        "yaw": 99.090576171875
                    }
                },
                "velocity": {
                    "x": -1.2493892908096313,
                    "y": 7.793577671051025,
                    "z": 0.12153670936822891
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.0261869430542,
                "transform": {
                    "location": {
                        "x": 968.5591430664062,
                        "y": 3350.25,
                        "z": 369.6419372558594
                    },
                    "rotation": {
                        "roll": -0.00036624682252295315,
                        "pitch": 0.7494834661483765,
                        "yaw": 99.1590347290039
                    }
                },
                "velocity": {
                    "x": -1.2772992849349976,
                    "y": 7.923181533813477,
                    "z": 0.10661879926919937
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.010993003845215,
                "transform": {
                    "location": {
                        "x": 965.5940551757812,
                        "y": 3368.759521484375,
                        "z": 369.86932373046875
                    },
                    "rotation": {
                        "roll": -0.0022278057876974344,
                        "pitch": 0.6654994487762451,
                        "yaw": 98.97329711914062
                    }
                },
                "velocity": {
                    "x": -1.2716984748840332,
                    "y": 7.908876895904541,
                    "z": 0.09198132902383804
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.3871707916259766,
                "transform": {
                    "location": {
                        "x": 955.493408203125,
                        "y": 3405.988037109375,
                        "z": 370.2390441894531
                    },
                    "rotation": {
                        "roll": 0.0010673128999769688,
                        "pitch": 0.5111986398696899,
                        "yaw": 99.1447982788086
                    }
                },
                "velocity": {
                    "x": -0.37969934940338135,
                    "y": 2.3567163944244385,
                    "z": 0.017346343025565147
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 1.9739389419555664,
                "transform": {
                    "location": {
                        "x": 956.96044921875,
                        "y": 3396.86669921875,
                        "z": 370.1584777832031
                    },
                    "rotation": {
                        "roll": -0.00045776288607157767,
                        "pitch": 0.04673898220062256,
                        "yaw": 99.13279724121094
                    }
                },
                "velocity": {
                    "x": -0.31308645009994507,
                    "y": 1.9488754272460938,
                    "z": 0.01721164584159851
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.03090348280966282,
        "expert_target_speed": 10.0,
        "target_point": [
            46.85983384274764,
            -0.7454740080033826
        ],
        "target_point_next": [
            97.84970201428379,
            -1.7590561847873065
        ]
    },
    "155": {
        "acceleration": [
            -0.27355194091796875,
            2.5030517578125,
            0.0199165940284729
        ],
        "angular_velocity": [
            -0.0741053968667984,
            -0.4060526192188263,
            -0.685234010219574
        ],
        "forward_vector": [
            -0.1774636209011078,
            0.9839367270469666,
            0.01937244087457657
        ],
        "right_vector": [
            -0.9841199517250061,
            -0.1775045394897461,
            0.00039993133395910263
        ],
        "location": [
            965.4702758789062,
            3350.30126953125,
            369.6404113769531
        ],
        "rotation": [
            -0.02291867882013321,
            1.110028624534607,
            100.2239990234375
        ],
        "velocity": [
            -2.910834550857544,
            16.162229537963867,
            0.2170620709657669
        ],
        "speed": 16.422259936448995,
        "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": 47.86014175415039,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                956.877685546875,
                3397.380859375,
                370.1629638671875
            ],
            "velocity": [
                -0.34659576416015625,
                2.1563565731048584,
                0.017466602846980095
            ],
            "speed_kmh": 7.862772004651039,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.851302146911621,
                "transform": {
                    "location": {
                        "x": 967.7542724609375,
                        "y": 3397.1455078125,
                        "z": 370.1526184082031
                    },
                    "rotation": {
                        "roll": -0.0033569259103387594,
                        "pitch": -0.5007621049880981,
                        "yaw": -80.38824462890625
                    }
                },
                "velocity": {
                    "x": 0.9712868332862854,
                    "y": -5.769914627075195,
                    "z": -0.049263838678598404
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.011453151702881,
                "transform": {
                    "location": {
                        "x": 964.602783203125,
                        "y": 3396.284912109375,
                        "z": 370.1593017578125
                    },
                    "rotation": {
                        "roll": -0.0018615653971210122,
                        "pitch": -0.5041772127151489,
                        "yaw": -80.40220642089844
                    }
                },
                "velocity": {
                    "x": 1.0014089345932007,
                    "y": -5.927196979522705,
                    "z": -0.05555190145969391
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.328157424926758,
                "transform": {
                    "location": {
                        "x": 976.6055297851562,
                        "y": 3289.92431640625,
                        "z": 368.6282653808594
                    },
                    "rotation": {
                        "roll": -0.06207272410392761,
                        "pitch": 1.0577093362808228,
                        "yaw": 88.89421081542969
                    }
                },
                "velocity": {
                    "x": -0.0778111070394516,
                    "y": 8.32603931427002,
                    "z": 0.17091335356235504
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.03524112701416,
                "transform": {
                    "location": {
                        "x": 974.5408325195312,
                        "y": 3355.244384765625,
                        "z": 369.6954650878906
                    },
                    "rotation": {
                        "roll": 0.0006315595237538218,
                        "pitch": -0.7932717800140381,
                        "yaw": -80.83964538574219
                    }
                },
                "velocity": {
                    "x": 1.278024673461914,
                    "y": -7.932267665863037,
                    "z": -0.10431892424821854
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01125431060791,
                "transform": {
                    "location": {
                        "x": 971.3471069335938,
                        "y": 3354.634033203125,
                        "z": 369.6856994628906
                    },
                    "rotation": {
                        "roll": 0.001813987037166953,
                        "pitch": -0.7882720828056335,
                        "yaw": -80.82750701904297
                    }
                },
                "velocity": {
                    "x": 1.2768815755844116,
                    "y": -7.908135414123535,
                    "z": -0.10566834360361099
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.577277660369873,
                "transform": {
                    "location": {
                        "x": 974.3837890625,
                        "y": 3313.345947265625,
                        "z": 369.06475830078125
                    },
                    "rotation": {
                        "roll": -0.024108853191137314,
                        "pitch": 0.7896996140480042,
                        "yaw": 98.05337524414062
                    }
                },
                "velocity": {
                    "x": -1.072819471359253,
                    "y": 7.499855995178223,
                    "z": 0.12790079414844513
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.030587196350098,
                "transform": {
                    "location": {
                        "x": 981.2124633789062,
                        "y": 3312.8974609375,
                        "z": 369.0314025878906
                    },
                    "rotation": {
                        "roll": 0.0021071520168334246,
                        "pitch": -0.9758222699165344,
                        "yaw": -82.04439544677734
                    }
                },
                "velocity": {
                    "x": 1.1078567504882812,
                    "y": -7.952626705169678,
                    "z": -0.13676698505878448
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.059249877929688,
                "transform": {
                    "location": {
                        "x": 978.0078735351562,
                        "y": 3312.3515625,
                        "z": 369.0296936035156
                    },
                    "rotation": {
                        "roll": 0.002525511896237731,
                        "pitch": -0.9805896878242493,
                        "yaw": -82.03295135498047
                    }
                },
                "velocity": {
                    "x": 1.11163330078125,
                    "y": -7.9810099601745605,
                    "z": -0.1387685388326645
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.03662109375,
                        "y": 3426.876220703125,
                        "z": 370.4065856933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.876953125,
                        "y": 3440.295654296875,
                        "z": 370.48291015625
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.2130126953125,
                        "y": 3277.20361328125,
                        "z": 368.3484191894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2872241735458374,
                        "yaw": 93.52446746826172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.729994773864746,
                "transform": {
                    "location": {
                        "x": 971.1428833007812,
                        "y": 3334.184326171875,
                        "z": 369.4035339355469
                    },
                    "rotation": {
                        "roll": -0.0022887703962624073,
                        "pitch": 0.9832876324653625,
                        "yaw": 99.14058685302734
                    }
                },
                "velocity": {
                    "x": -1.3838685750961304,
                    "y": 8.618560791015625,
                    "z": 0.1346614956855774
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.02392578125,
                "transform": {
                    "location": {
                        "x": 968.2401123046875,
                        "y": 3352.23046875,
                        "z": 369.66839599609375
                    },
                    "rotation": {
                        "roll": -0.0011901569087058306,
                        "pitch": 0.7542918920516968,
                        "yaw": 99.1216049194336
                    }
                },
                "velocity": {
                    "x": -1.274399995803833,
                    "y": 7.92134952545166,
                    "z": 0.10731080919504166
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.075889587402344,
                "transform": {
                    "location": {
                        "x": 965.2741088867188,
                        "y": 3370.744873046875,
                        "z": 369.89251708984375
                    },
                    "rotation": {
                        "roll": -0.0029906791169196367,
                        "pitch": 0.6687164902687073,
                        "yaw": 99.01353454589844
                    }
                },
                "velocity": {
                    "x": -1.2870445251464844,
                    "y": 7.972133636474609,
                    "z": 0.09265647828578949
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.5675575733184814,
                "transform": {
                    "location": {
                        "x": 955.3946533203125,
                        "y": 3406.6015625,
                        "z": 370.2437438964844
                    },
                    "rotation": {
                        "roll": 0.00021652117720805109,
                        "pitch": 0.5372694730758667,
                        "yaw": 99.14501953125
                    }
                },
                "velocity": {
                    "x": -0.40813058614730835,
                    "y": 2.5348498821258545,
                    "z": 0.017793875187635422
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.184103488922119,
                "transform": {
                    "location": {
                        "x": 956.877685546875,
                        "y": 3397.380859375,
                        "z": 370.1629638671875
                    },
                    "rotation": {
                        "roll": 0.0002801779191941023,
                        "pitch": 0.0466911718249321,
                        "yaw": 99.13335418701172
                    }
                },
                "velocity": {
                    "x": -0.34659576416015625,
                    "y": 2.1563565731048584,
                    "z": 0.017466602846980095
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.00527271768078208,
        "expert_target_speed": 10.0,
        "target_point": [
            42.837181767465246,
            -0.7000915886356553
        ],
        "target_point_next": [
            93.82803772680714,
            -1.6626992519016763
        ]
    },
    "160": {
        "acceleration": [
            0.2946281433105469,
            1.6884994506835938,
            0.010834336280822754
        ],
        "angular_velocity": [
            -0.23560279607772827,
            -0.4980619549751282,
            -2.403794050216675
        ],
        "forward_vector": [
            -0.1702771633863449,
            0.9852254986763,
            0.018339917063713074
        ],
        "right_vector": [
            -0.9853950142860413,
            -0.1702757477760315,
            -0.0016497541218996048
        ],
        "location": [
            964.7431030273438,
            3354.4111328125,
            369.6955261230469
        ],
        "rotation": [
            0.09453988820314407,
            1.050858736038208,
            99.80560302734375
        ],
        "velocity": [
            -2.8830902576446533,
            16.66753578186035,
            0.22161683440208435
        ],
        "speed": 16.915051240635385,
        "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": 44.25726318359375,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                956.7869873046875,
                3397.94482421875,
                370.1678771972656
            ],
            "velocity": [
                -0.3701643943786621,
                2.3023717403411865,
                0.019779453054070473
            ],
            "speed_kmh": 8.395280688047485,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.442862510681152,
                "transform": {
                    "location": {
                        "x": 968.0166015625,
                        "y": 3395.583251953125,
                        "z": 370.1374206542969
                    },
                    "rotation": {
                        "roll": -0.0009155268198810518,
                        "pitch": -0.4486341178417206,
                        "yaw": -80.40381622314453
                    }
                },
                "velocity": {
                    "x": 1.2127892971038818,
                    "y": -7.343058109283447,
                    "z": -0.0695759505033493
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.107489585876465,
                "transform": {
                    "location": {
                        "x": 964.8923950195312,
                        "y": 3394.55517578125,
                        "z": 370.1434631347656
                    },
                    "rotation": {
                        "roll": 0.005453860387206078,
                        "pitch": -0.2993808388710022,
                        "yaw": -80.50767517089844
                    }
                },
                "velocity": {
                    "x": 1.3276326656341553,
                    "y": -7.997705459594727,
                    "z": -0.0740552693605423
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.231949806213379,
                "transform": {
                    "location": {
                        "x": 976.5831298828125,
                        "y": 3292.1259765625,
                        "z": 368.6728820800781
                    },
                    "rotation": {
                        "roll": -0.024414056912064552,
                        "pitch": 1.0613635778427124,
                        "yaw": 90.60958862304688
                    }
                },
                "velocity": {
                    "x": -0.4071812629699707,
                    "y": 9.22110652923584,
                    "z": 0.18521319329738617
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.114792823791504,
                "transform": {
                    "location": {
                        "x": 974.8621826171875,
                        "y": 3353.250244140625,
                        "z": 369.66839599609375
                    },
                    "rotation": {
                        "roll": 0.00026237170095555484,
                        "pitch": -0.7600770592689514,
                        "yaw": -80.8480453491211
                    }
                },
                "velocity": {
                    "x": 1.2906564474105835,
                    "y": -8.010773658752441,
                    "z": -0.10762157291173935
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034740447998047,
                "transform": {
                    "location": {
                        "x": 971.6664428710938,
                        "y": 3352.655517578125,
                        "z": 369.6589660644531
                    },
                    "rotation": {
                        "roll": 0.0009684804826974869,
                        "pitch": -0.7711488008499146,
                        "yaw": -80.83372497558594
                    }
                },
                "velocity": {
                    "x": 1.2797211408615112,
                    "y": -7.931449890136719,
                    "z": -0.10706914961338043
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.759332656860352,
                "transform": {
                    "location": {
                        "x": 974.1133422851562,
                        "y": 3315.21435546875,
                        "z": 369.0968322753906
                    },
                    "rotation": {
                        "roll": -0.013915928080677986,
                        "pitch": 0.9400457143783569,
                        "yaw": 98.27279663085938
                    }
                },
                "velocity": {
                    "x": -1.1185520887374878,
                    "y": 7.6771559715271,
                    "z": 0.13174372911453247
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.082996368408203,
                "transform": {
                    "location": {
                        "x": 981.4845581054688,
                        "y": 3310.902099609375,
                        "z": 368.996826171875
                    },
                    "rotation": {
                        "roll": 0.008487518876791,
                        "pitch": -0.9934987425804138,
                        "yaw": -82.29991912841797
                    }
                },
                "velocity": {
                    "x": 1.047951579093933,
                    "y": -8.01357364654541,
                    "z": -0.13880608975887299
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057026863098145,
                "transform": {
                    "location": {
                        "x": 978.280029296875,
                        "y": 3310.35595703125,
                        "z": 368.994873046875
                    },
                    "rotation": {
                        "roll": 0.008021355606615543,
                        "pitch": -0.9993932247161865,
                        "yaw": -82.32063293457031
                    }
                },
                "velocity": {
                    "x": 1.0428669452667236,
                    "y": -7.988041877746582,
                    "z": -0.13890035450458527
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.8380737304688,
                        "y": 3428.10986328125,
                        "z": 370.4107360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.6116943359375,
                        "y": 3441.943603515625,
                        "z": 370.49224853515625
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.0482788085938,
                        "y": 3279.697509765625,
                        "z": 368.4037170410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2448360919952393,
                        "yaw": 94.13947296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.207182884216309,
                "transform": {
                    "location": {
                        "x": 970.8048706054688,
                        "y": 3336.2890625,
                        "z": 369.4363098144531
                    },
                    "rotation": {
                        "roll": -0.0018005678430199623,
                        "pitch": 0.8530086278915405,
                        "yaw": 99.10860443115234
                    }
                },
                "velocity": {
                    "x": -1.30133056640625,
                    "y": 8.102360725402832,
                    "z": 0.1270989179611206
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.024806022644043,
                "transform": {
                    "location": {
                        "x": 967.9216918945312,
                        "y": 3354.211181640625,
                        "z": 369.6949462890625
                    },
                    "rotation": {
                        "roll": 0.00020265539933461696,
                        "pitch": 0.7547017335891724,
                        "yaw": 99.16095733642578
                    }
                },
                "velocity": {
                    "x": -1.274649739265442,
                    "y": 7.922200679779053,
                    "z": 0.1073044016957283
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.011153221130371,
                "transform": {
                    "location": {
                        "x": 964.954833984375,
                        "y": 3372.72998046875,
                        "z": 369.915771484375
                    },
                    "rotation": {
                        "roll": -0.0015258770436048508,
                        "pitch": 0.6675280332565308,
                        "yaw": 98.97581481933594
                    }
                },
                "velocity": {
                    "x": -1.271107792854309,
                    "y": 7.909139633178711,
                    "z": 0.09147313982248306
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 2.8024120330810547,
                "transform": {
                    "location": {
                        "x": 955.2893676757812,
                        "y": 3407.255615234375,
                        "z": 370.2485046386719
                    },
                    "rotation": {
                        "roll": -0.0005188205977901816,
                        "pitch": 0.5001952052116394,
                        "yaw": 99.14401245117188
                    }
                },
                "velocity": {
                    "x": -0.44518688321113586,
                    "y": 2.766752243041992,
                    "z": 0.020083827897906303
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.3320224285125732,
                "transform": {
                    "location": {
                        "x": 956.7869873046875,
                        "y": 3397.94482421875,
                        "z": 370.1678771972656
                    },
                    "rotation": {
                        "roll": -0.0010375959100201726,
                        "pitch": 0.07216094434261322,
                        "yaw": 99.13558197021484
                    }
                },
                "velocity": {
                    "x": -0.3701643943786621,
                    "y": 2.3023717403411865,
                    "z": 0.019779453054070473
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0001578477822476998,
        "expert_target_speed": 10.0,
        "target_point": [
            38.667486676954255,
            -0.40389166032671664
        ],
        "target_point_next": [
            89.66401217215147,
            -0.9941394027452173
        ]
    },
    "165": {
        "acceleration": [
            0.631251335144043,
            1.0346603393554688,
            -0.06431460380554199
        ],
        "angular_velocity": [
            -0.3399873375892639,
            -0.39739280939102173,
            -2.8069658279418945
        ],
        "forward_vector": [
            -0.1587887704372406,
            0.9871882796287537,
            0.015665248036384583
        ],
        "right_vector": [
            -0.9873121976852417,
            -0.15875475108623505,
            -0.0033999953884631395
        ],
        "location": [
            964.0366821289062,
            3358.62158203125,
            369.7496643066406
        ],
        "rotation": [
            0.19482967257499695,
            0.8975892663002014,
            99.13773345947266
        ],
        "velocity": [
            -2.751873016357422,
            16.984375,
            0.20823949575424194
        ],
        "speed": 17.205865256905305,
        "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": 40.56488800048828,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                956.6954345703125,
                3398.514404296875,
                370.1728820800781
            ],
            "velocity": [
                -0.36212682723999023,
                2.2511699199676514,
                0.021175403147935867
            ],
            "speed_kmh": 8.208750159356303,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.7106323242188,
                        "y": 3434.3408203125,
                        "z": 370.7509765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3710295259952545,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.5983276367188,
                        "y": 3433.22607421875,
                        "z": 370.6106872558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3710295259952545,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.433162689208984,
                "transform": {
                    "location": {
                        "x": 968.351318359375,
                        "y": 3393.5615234375,
                        "z": 370.1181640625
                    },
                    "rotation": {
                        "roll": 0.0006635132012888789,
                        "pitch": -0.4911520481109619,
                        "yaw": -80.60652160644531
                    }
                },
                "velocity": {
                    "x": 1.368676781654358,
                    "y": -8.320942878723145,
                    "z": -0.08291373401880264
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.281856536865234,
                "transform": {
                    "location": {
                        "x": 965.2341918945312,
                        "y": 3392.486083984375,
                        "z": 370.1231689453125
                    },
                    "rotation": {
                        "roll": 0.005091395229101181,
                        "pitch": -0.48580402135849,
                        "yaw": -80.68296813964844
                    }
                },
                "velocity": {
                    "x": 1.3446041345596313,
                    "y": -8.171562194824219,
                    "z": -0.08221657574176788
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.02329158782959,
                "transform": {
                    "location": {
                        "x": 976.4563598632812,
                        "y": 3294.53173828125,
                        "z": 368.7211608886719
                    },
                    "rotation": {
                        "roll": 0.013665812090039253,
                        "pitch": 1.0480036735534668,
                        "yaw": 93.08428192138672
                    }
                },
                "velocity": {
                    "x": -0.6807262897491455,
                    "y": 9.998186111450195,
                    "z": 0.19814848899841309
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.07742691040039,
                "transform": {
                    "location": {
                        "x": 975.1842041015625,
                        "y": 3351.251220703125,
                        "z": 369.6415100097656
                    },
                    "rotation": {
                        "roll": -6.110354297561571e-05,
                        "pitch": -0.759182333946228,
                        "yaw": -80.84896850585938
                    }
                },
                "velocity": {
                    "x": 1.2845312356948853,
                    "y": -7.973917484283447,
                    "z": -0.10698121786117554
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.049065589904785,
                "transform": {
                    "location": {
                        "x": 971.9867553710938,
                        "y": 3350.6689453125,
                        "z": 369.63226318359375
                    },
                    "rotation": {
                        "roll": 0.001337503083050251,
                        "pitch": -0.7677883505821228,
                        "yaw": -80.84141540527344
                    }
                },
                "velocity": {
                    "x": 1.281019687652588,
                    "y": -7.94575309753418,
                    "z": -0.10699829459190369
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.806906700134277,
                "transform": {
                    "location": {
                        "x": 973.8114013671875,
                        "y": 3317.26171875,
                        "z": 369.13134765625
                    },
                    "rotation": {
                        "roll": -0.02404789812862873,
                        "pitch": 1.06980562210083,
                        "yaw": 98.43736267089844
                    }
                },
                "velocity": {
                    "x": -1.3101918697357178,
                    "y": 8.707694053649902,
                    "z": 0.14513051509857178
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.032015800476074,
                "transform": {
                    "location": {
                        "x": 981.7459716796875,
                        "y": 3308.905517578125,
                        "z": 368.961669921875
                    },
                    "rotation": {
                        "roll": 0.0032377999741584063,
                        "pitch": -1.0109840631484985,
                        "yaw": -82.57284545898438
                    }
                },
                "velocity": {
                    "x": 1.0298879146575928,
                    "y": -7.964443206787109,
                    "z": -0.14233136177062988
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.059283256530762,
                "transform": {
                    "location": {
                        "x": 978.541015625,
                        "y": 3308.358642578125,
                        "z": 368.95947265625
                    },
                    "rotation": {
                        "roll": 0.0037503123749047518,
                        "pitch": -1.0182445049285889,
                        "yaw": -82.56450653076172
                    }
                },
                "velocity": {
                    "x": 1.0328599214553833,
                    "y": -7.991557598114014,
                    "z": -0.1423167586326599
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.7057495117188,
                        "y": 3428.932373046875,
                        "z": 370.41351318359375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.2866821289062,
                        "y": 3443.96435546875,
                        "z": 370.5037536621094
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.9386596679688,
                        "y": 3281.359619140625,
                        "z": 368.4407043457031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.2448360919952393,
                        "yaw": 94.13947296142578
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.506957054138184,
                "transform": {
                    "location": {
                        "x": 970.4765625,
                        "y": 3338.330810546875,
                        "z": 369.46728515625
                    },
                    "rotation": {
                        "roll": -9.155118459602818e-05,
                        "pitch": 0.8738270401954651,
                        "yaw": 99.15522003173828
                    }
                },
                "velocity": {
                    "x": -1.3514962196350098,
                    "y": 8.397955894470215,
                    "z": 0.1269422173500061
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.279509544372559,
                "transform": {
                    "location": {
                        "x": 967.6001586914062,
                        "y": 3356.2080078125,
                        "z": 369.7213134765625
                    },
                    "rotation": {
                        "roll": -0.0007324604084715247,
                        "pitch": 0.7088643312454224,
                        "yaw": 99.12354278564453
                    }
                },
                "velocity": {
                    "x": -1.3134629726409912,
                    "y": 8.174022674560547,
                    "z": 0.10228986293077469
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.075174331665039,
                "transform": {
                    "location": {
                        "x": 964.6353149414062,
                        "y": 3374.715576171875,
                        "z": 369.93890380859375
                    },
                    "rotation": {
                        "roll": -0.0029601792339235544,
                        "pitch": 0.6650281548500061,
                        "yaw": 98.99978637695312
                    }
                },
                "velocity": {
                    "x": -1.2845401763916016,
                    "y": 7.9718241691589355,
                    "z": 0.0916888415813446
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.000643253326416,
                "transform": {
                    "location": {
                        "x": 955.173828125,
                        "y": 3407.973388671875,
                        "z": 370.25390625
                    },
                    "rotation": {
                        "roll": -0.00012209475971758366,
                        "pitch": 0.525712788105011,
                        "yaw": 99.14483642578125
                    }
                },
                "velocity": {
                    "x": -0.4773029685020447,
                    "y": 2.9623544216156006,
                    "z": 0.022309398278594017
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.2802083492279053,
                "transform": {
                    "location": {
                        "x": 956.6954345703125,
                        "y": 3398.514404296875,
                        "z": 370.1728820800781
                    },
                    "rotation": {
                        "roll": -6.6701426604254266e-09,
                        "pitch": 0.1885746866464615,
                        "yaw": 99.13575744628906
                    }
                },
                "velocity": {
                    "x": -0.36212682723999023,
                    "y": 2.2511699199676514,
                    "z": 0.021175403147935867
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.017977790907025337,
        "expert_target_speed": 10.0,
        "target_point": [
            34.40036584521548,
            0.01806970488488524
        ],
        "target_point_next": [
            85.40030689377485,
            0.022315078644393083
        ]
    },
    "170": {
        "acceleration": [
            0.5922937393188477,
            0.857696533203125,
            -0.0010225176811218262
        ],
        "angular_velocity": [
            -0.1454496830701828,
            -0.06823752075433731,
            -2.293818473815918
        ],
        "forward_vector": [
            -0.14744296669960022,
            0.9889612197875977,
            0.014709536917507648
        ],
        "right_vector": [
            -0.9890686869621277,
            -0.14739684760570526,
            -0.0041781640611588955
        ],
        "location": [
            963.3674926757812,
            3362.8994140625,
            369.8018798828125
        ],
        "rotation": [
            0.23941777646541595,
            0.8428248167037964,
            98.47969818115234
        ],
        "velocity": [
            -2.5971765518188477,
            17.22846221923828,
            0.20907963812351227
        ],
        "speed": 17.423123614353383,
        "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": 36.80207443237305,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                956.6055908203125,
                3399.072998046875,
                370.1777648925781
            ],
            "velocity": [
                -0.36600837111473083,
                2.275707960128784,
                0.02073032408952713
            ],
            "speed_kmh": 8.298166796129088,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.040283203125,
                        "y": 3432.29248046875,
                        "z": 370.5584411621094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3710295259952545,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.952040195465088,
                "transform": {
                    "location": {
                        "x": 958.9276123046875,
                        "y": 3431.18408203125,
                        "z": 370.4703674316406
                    },
                    "rotation": {
                        "roll": -0.001159676001407206,
                        "pitch": -0.3744787573814392,
                        "yaw": -80.8326187133789
                    }
                },
                "velocity": {
                    "x": 1.2916558980941772,
                    "y": -7.823789596557617,
                    "z": -0.5957199931144714
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.879770278930664,
                "transform": {
                    "location": {
                        "x": 968.6817626953125,
                        "y": 3391.553466796875,
                        "z": 370.0987548828125
                    },
                    "rotation": {
                        "roll": -0.0005798477213829756,
                        "pitch": -0.5703412294387817,
                        "yaw": -80.6680679321289
                    }
                },
                "velocity": {
                    "x": 1.2760396003723145,
                    "y": -7.775382995605469,
                    "z": -0.07695603370666504
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.844634056091309,
                "transform": {
                    "location": {
                        "x": 965.5564575195312,
                        "y": 3390.516845703125,
                        "z": 370.1033935546875
                    },
                    "rotation": {
                        "roll": 0.005617755465209484,
                        "pitch": -0.5903673768043518,
                        "yaw": -80.83253479003906
                    }
                },
                "velocity": {
                    "x": 1.2639555931091309,
                    "y": -7.741759300231934,
                    "z": -0.07655376940965652
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.596144676208496,
                "transform": {
                    "location": {
                        "x": 976.2757568359375,
                        "y": 3297.1259765625,
                        "z": 368.7720642089844
                    },
                    "rotation": {
                        "roll": 0.01400876697152853,
                        "pitch": 1.0481607913970947,
                        "yaw": 94.15033721923828
                    }
                },
                "velocity": {
                    "x": -0.9301257133483887,
                    "y": 10.553255081176758,
                    "z": 0.20481792092323303
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.090765953063965,
                "transform": {
                    "location": {
                        "x": 975.5055541992188,
                        "y": 3349.2568359375,
                        "z": 369.61480712890625
                    },
                    "rotation": {
                        "roll": -9.160221816273406e-05,
                        "pitch": -0.7722758054733276,
                        "yaw": -80.84929656982422
                    }
                },
                "velocity": {
                    "x": 1.2865618467330933,
                    "y": -7.987069606781006,
                    "z": -0.10937195271253586
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.016484260559082,
                "transform": {
                    "location": {
                        "x": 972.3058471679688,
                        "y": 3348.687744140625,
                        "z": 369.6056213378906
                    },
                    "rotation": {
                        "roll": 0.000538967433385551,
                        "pitch": -0.7770978808403015,
                        "yaw": -80.85021209716797
                    }
                },
                "velocity": {
                    "x": 1.2745434045791626,
                    "y": -7.913779258728027,
                    "z": -0.10791793465614319
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.007948875427246,
                "transform": {
                    "location": {
                        "x": 973.4556884765625,
                        "y": 3319.591796875,
                        "z": 369.169921875
                    },
                    "rotation": {
                        "roll": -0.01931757479906082,
                        "pitch": 1.108621597290039,
                        "yaw": 98.73670196533203
                    }
                },
                "velocity": {
                    "x": -1.5215569734573364,
                    "y": 9.890275001525879,
                    "z": 0.16241201758384705
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.083261489868164,
                "transform": {
                    "location": {
                        "x": 982.0044555664062,
                        "y": 3306.907958984375,
                        "z": 368.9259948730469
                    },
                    "rotation": {
                        "roll": -0.0034180409274995327,
                        "pitch": -1.0233125686645508,
                        "yaw": -82.64665985107422
                    }
                },
                "velocity": {
                    "x": 1.0346102714538574,
                    "y": -8.015454292297363,
                    "z": -0.14554761350154877
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.059198379516602,
                "transform": {
                    "location": {
                        "x": 978.7993774414062,
                        "y": 3306.36083984375,
                        "z": 368.9234924316406
                    },
                    "rotation": {
                        "roll": -0.0015563627239316702,
                        "pitch": -1.034391164779663,
                        "yaw": -82.67341613769531
                    }
                },
                "velocity": {
                    "x": 1.028015375137329,
                    "y": -7.99203634262085,
                    "z": -0.1456589698791504
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.603786945343018,
                "transform": {
                    "location": {
                        "x": 952.3934936523438,
                        "y": 3430.86376953125,
                        "z": 370.42498779296875
                    },
                    "rotation": {
                        "roll": 0.008986526168882847,
                        "pitch": 0.5218605995178223,
                        "yaw": 99.19808959960938
                    }
                },
                "velocity": {
                    "x": -1.089256763458252,
                    "y": 6.5131425857543945,
                    "z": 0.04996025934815407
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.9556884765625,
                        "y": 3446.0205078125,
                        "z": 370.5148010253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.7484130859375,
                        "y": 3283.850830078125,
                        "z": 368.4944763183594
                    },
                    "rotation": {
                        "roll": 5.3372598785017544e-08,
                        "pitch": 1.2024343013763428,
                        "yaw": 94.75452423095703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.290162086486816,
                "transform": {
                    "location": {
                        "x": 970.1417236328125,
                        "y": 3340.411865234375,
                        "z": 369.498046875
                    },
                    "rotation": {
                        "roll": 6.764160207239911e-05,
                        "pitch": 0.8079156875610352,
                        "yaw": 99.12577056884766
                    }
                },
                "velocity": {
                    "x": -1.3163660764694214,
                    "y": 8.184115409851074,
                    "z": 0.1192702054977417
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.856067657470703,
                "transform": {
                    "location": {
                        "x": 967.2573852539062,
                        "y": 3358.340576171875,
                        "z": 369.74859619140625
                    },
                    "rotation": {
                        "roll": 0.0003931863757316023,
                        "pitch": 0.6280632019042969,
                        "yaw": 99.15280151367188
                    }
                },
                "velocity": {
                    "x": -1.4073554277420044,
                    "y": 8.74286937713623,
                    "z": 0.10728956013917923
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.011597633361816,
                "transform": {
                    "location": {
                        "x": 964.3158569335938,
                        "y": 3376.7001953125,
                        "z": 369.9615783691406
                    },
                    "rotation": {
                        "roll": -0.0016479649348184466,
                        "pitch": 0.6370449066162109,
                        "yaw": 98.98005676269531
                    }
                },
                "velocity": {
                    "x": -1.2711102962493896,
                    "y": 7.909590244293213,
                    "z": 0.0914498120546341
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1252171993255615,
                "transform": {
                    "location": {
                        "x": 955.0510864257812,
                        "y": 3408.73583984375,
                        "z": 370.259765625
                    },
                    "rotation": {
                        "roll": 0.00177281373180449,
                        "pitch": 0.565075159072876,
                        "yaw": 99.14312744140625
                    }
                },
                "velocity": {
                    "x": -0.4965886175632477,
                    "y": 3.0854363441467285,
                    "z": 0.02154633402824402
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.305046319961548,
                "transform": {
                    "location": {
                        "x": 956.6055908203125,
                        "y": 3399.072998046875,
                        "z": 370.1777648925781
                    },
                    "rotation": {
                        "roll": -0.0002136245893780142,
                        "pitch": 0.1839301586151123,
                        "yaw": 99.13626861572266
                    }
                },
                "velocity": {
                    "x": -0.36600837111473083,
                    "y": 2.275707960128784,
                    "z": 0.02073032408952713
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0542873851954937,
        "expert_target_speed": 10.0,
        "target_point": [
            30.06814420414109,
            0.3820657581635185
        ],
        "target_point_next": [
            81.064673175718,
            0.9720130700875096
        ]
    },
    "175": {
        "acceleration": [
            0.6105804443359375,
            0.40111541748046875,
            -0.042943358421325684
        ],
        "angular_velocity": [
            -0.2592383623123169,
            0.02045249193906784,
            -2.0951812267303467
        ],
        "forward_vector": [
            -0.13817544281482697,
            0.9903194308280945,
            0.013230294920504093
        ],
        "right_vector": [
            -0.9904050230979919,
            -0.1381315439939499,
            -0.004180330317467451
        ],
        "location": [
            962.7368774414062,
            3367.221435546875,
            369.8537292480469
        ],
        "rotation": [
            0.23953694105148315,
            0.7580621838569641,
            97.94297790527344
        ],
        "velocity": [
            -2.440142869949341,
            17.338396072387695,
            0.20307986438274384
        ],
        "speed": 17.509262565532385,
        "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": 33.04450225830078,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                956.5092163085938,
                3399.672119140625,
                370.1828918457031
            ],
            "velocity": [
                -0.40354564785957336,
                2.5082690715789795,
                0.021281423047184944
            ],
            "speed_kmh": 9.14620772709085,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.447270393371582,
                "transform": {
                    "location": {
                        "x": 962.3287353515625,
                        "y": 3430.539306640625,
                        "z": 370.385498046875
                    },
                    "rotation": {
                        "roll": -0.008636444807052612,
                        "pitch": -0.41873154044151306,
                        "yaw": -80.61495971679688
                    }
                },
                "velocity": {
                    "x": 1.1020556688308716,
                    "y": -6.351907253265381,
                    "z": -0.07772967964410782
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.163277626037598,
                "transform": {
                    "location": {
                        "x": 959.263427734375,
                        "y": 3429.197021484375,
                        "z": 370.401123046875
                    },
                    "rotation": {
                        "roll": -0.005676272325217724,
                        "pitch": -0.3708246052265167,
                        "yaw": -80.33636474609375
                    }
                },
                "velocity": {
                    "x": 1.3803670406341553,
                    "y": -8.045134544372559,
                    "z": -0.09746364504098892
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074679374694824,
                "transform": {
                    "location": {
                        "x": 969.0010986328125,
                        "y": 3389.600341796875,
                        "z": 370.0793151855469
                    },
                    "rotation": {
                        "roll": 0.000798022432718426,
                        "pitch": -0.5564827919006348,
                        "yaw": -80.72932434082031
                    }
                },
                "velocity": {
                    "x": 1.2951338291168213,
                    "y": -7.969746112823486,
                    "z": -0.07883499562740326
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.192108154296875,
                "transform": {
                    "location": {
                        "x": 965.8780517578125,
                        "y": 3388.53271484375,
                        "z": 370.0838623046875
                    },
                    "rotation": {
                        "roll": 0.006356168072670698,
                        "pitch": -0.5352477431297302,
                        "yaw": -80.90106201171875
                    }
                },
                "velocity": {
                    "x": 1.3072329759597778,
                    "y": -8.08674144744873,
                    "z": -0.0799940824508667
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.862593650817871,
                "transform": {
                    "location": {
                        "x": 976.0411987304688,
                        "y": 3299.671875,
                        "z": 368.8205261230469
                    },
                    "rotation": {
                        "roll": 0.01576418988406658,
                        "pitch": 1.1364272832870483,
                        "yaw": 95.3985366821289
                    }
                },
                "velocity": {
                    "x": -0.9807646870613098,
                    "y": 9.811942100524902,
                    "z": 0.1861257553100586
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0701322555542,
                "transform": {
                    "location": {
                        "x": 975.8265991210938,
                        "y": 3347.262939453125,
                        "z": 369.58697509765625
                    },
                    "rotation": {
                        "roll": -0.0006713996408507228,
                        "pitch": -0.8081411123275757,
                        "yaw": -80.849365234375
                    }
                },
                "velocity": {
                    "x": 1.2832599878311157,
                    "y": -7.966650009155273,
                    "z": -0.11297187209129333
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.049098014831543,
                "transform": {
                    "location": {
                        "x": 972.625,
                        "y": 3346.705322265625,
                        "z": 369.5779724121094
                    },
                    "rotation": {
                        "roll": 0.0023345330264419317,
                        "pitch": -0.8143292665481567,
                        "yaw": -80.85676574707031
                    }
                },
                "velocity": {
                    "x": 1.2777482271194458,
                    "y": -7.946246147155762,
                    "z": -0.111843042075634
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.66441822052002,
                "transform": {
                    "location": {
                        "x": 973.0714721679688,
                        "y": 3322.0751953125,
                        "z": 369.2101745605469
                    },
                    "rotation": {
                        "roll": -0.017486603930592537,
                        "pitch": 0.9257501363754272,
                        "yaw": 98.8201904296875
                    }
                },
                "velocity": {
                    "x": -1.4891518354415894,
                    "y": 9.547741889953613,
                    "z": 0.15502595901489258
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.031042098999023,
                "transform": {
                    "location": {
                        "x": 982.2498779296875,
                        "y": 3304.9091796875,
                        "z": 368.8898010253906
                    },
                    "rotation": {
                        "roll": 0.005604403559118509,
                        "pitch": -1.0424507856369019,
                        "yaw": -83.03423309326172
                    }
                },
                "velocity": {
                    "x": 0.9506369829177856,
                    "y": -7.9732513427734375,
                    "z": -0.14556342363357544
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057799339294434,
                "transform": {
                    "location": {
                        "x": 979.0442504882812,
                        "y": 3304.361572265625,
                        "z": 368.88690185546875
                    },
                    "rotation": {
                        "roll": 0.005007478408515453,
                        "pitch": -1.0516988039016724,
                        "yaw": -83.03361511230469
                    }
                },
                "velocity": {
                    "x": 0.9527990221977234,
                    "y": -7.999906539916992,
                    "z": -0.14762946963310242
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.644745349884033,
                "transform": {
                    "location": {
                        "x": 952.1161499023438,
                        "y": 3432.4951171875,
                        "z": 370.43798828125
                    },
                    "rotation": {
                        "roll": 0.009424797259271145,
                        "pitch": 0.4127073287963867,
                        "yaw": 99.55952453613281
                    }
                },
                "velocity": {
                    "x": -1.1349672079086304,
                    "y": 6.546942710876465,
                    "z": 0.04509534686803818
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.624755859375,
                        "y": 3448.076904296875,
                        "z": 370.5258483886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.618408203125,
                        "y": 3285.51171875,
                        "z": 368.5301208496094
                    },
                    "rotation": {
                        "roll": 5.3372598785017544e-08,
                        "pitch": 1.2024343013763428,
                        "yaw": 94.75452423095703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.579684257507324,
                "transform": {
                    "location": {
                        "x": 969.8068237304688,
                        "y": 3342.49267578125,
                        "z": 369.5282287597656
                    },
                    "rotation": {
                        "roll": 0.0011942172423005104,
                        "pitch": 0.8609384894371033,
                        "yaw": 99.16063690185547
                    }
                },
                "velocity": {
                    "x": -1.3629379272460938,
                    "y": 8.469836235046387,
                    "z": 0.1234876811504364
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.22640609741211,
                "transform": {
                    "location": {
                        "x": 966.9200439453125,
                        "y": 3360.435302734375,
                        "z": 369.7733154296875
                    },
                    "rotation": {
                        "roll": 0.0002027076989179477,
                        "pitch": 0.7310556173324585,
                        "yaw": 99.12510681152344
                    }
                },
                "velocity": {
                    "x": -1.3072353601455688,
                    "y": 8.121271133422852,
                    "z": 0.0992448627948761
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.076473236083984,
                "transform": {
                    "location": {
                        "x": 963.9965209960938,
                        "y": 3378.685791015625,
                        "z": 369.98382568359375
                    },
                    "rotation": {
                        "roll": -0.0023193371016532183,
                        "pitch": 0.6322364211082458,
                        "yaw": 98.991943359375
                    }
                },
                "velocity": {
                    "x": -1.2831553220748901,
                    "y": 7.973397254943848,
                    "z": 0.08867263793945312
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.126478433609009,
                "transform": {
                    "location": {
                        "x": 954.923583984375,
                        "y": 3409.52783203125,
                        "z": 370.26568603515625
                    },
                    "rotation": {
                        "roll": 0.0005195271223783493,
                        "pitch": 0.6413410902023315,
                        "yaw": 99.14409637451172
                    }
                },
                "velocity": {
                    "x": -0.4969792068004608,
                    "y": 3.086643934249878,
                    "z": 0.022569073364138603
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.5406131744384766,
                "transform": {
                    "location": {
                        "x": 956.5092163085938,
                        "y": 3399.672119140625,
                        "z": 370.1828918457031
                    },
                    "rotation": {
                        "roll": -0.0004882836947217584,
                        "pitch": 0.0563422255218029,
                        "yaw": 99.13773345947266
                    }
                },
                "velocity": {
                    "x": -0.40354564785957336,
                    "y": 2.5082690715789795,
                    "z": 0.021281423047184944
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11061853915452957,
        "expert_target_speed": 10.0,
        "target_point": [
            25.69554621777326,
            0.636403931162075
        ],
        "target_point_next": [
            76.68431100818677,
            1.7040509363173566
        ]
    },
    "180": {
        "acceleration": [
            0.5203056335449219,
            0.9819412231445312,
            0.0040915608406066895
        ],
        "angular_velocity": [
            0.12255078554153442,
            0.04508993402123451,
            -2.0923478603363037
        ],
        "forward_vector": [
            -0.1291324943304062,
            0.9915384650230408,
            0.01327451691031456
        ],
        "right_vector": [
            -0.9916248917579651,
            -0.12909087538719177,
            -0.003947783727198839
        ],
        "location": [
            962.1426391601562,
            3371.58154296875,
            369.9044189453125
        ],
        "rotation": [
            0.22621187567710876,
            0.7605961561203003,
            97.42012023925781
        ],
        "velocity": [
            -2.306110143661499,
            17.557395935058594,
            0.20202910900115967
        ],
        "speed": 17.708198553639228,
        "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": 29.315473556518555,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                956.4036254882812,
                3400.328369140625,
                370.1885986328125
            ],
            "velocity": [
                -0.4397832155227661,
                2.733555555343628,
                0.023148993030190468
            ],
            "speed_kmh": 9.967691498126479,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.687727451324463,
                "transform": {
                    "location": {
                        "x": 962.603515625,
                        "y": 3428.9169921875,
                        "z": 370.38885498046875
                    },
                    "rotation": {
                        "roll": -0.00357054453343153,
                        "pitch": -0.3759472370147705,
                        "yaw": -80.30815124511719
                    }
                },
                "velocity": {
                    "x": 1.1264256238937378,
                    "y": -6.59217643737793,
                    "z": 0.008642339147627354
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.952767848968506,
                "transform": {
                    "location": {
                        "x": 959.6024169921875,
                        "y": 3427.212646484375,
                        "z": 370.3873291015625
                    },
                    "rotation": {
                        "roll": -0.003662124741822481,
                        "pitch": -0.3701484203338623,
                        "yaw": -80.26165771484375
                    }
                },
                "velocity": {
                    "x": 1.3399548530578613,
                    "y": -7.838946342468262,
                    "z": -0.044200599193573
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.091495513916016,
                "transform": {
                    "location": {
                        "x": 969.3274536132812,
                        "y": 3387.593017578125,
                        "z": 370.0594482421875
                    },
                    "rotation": {
                        "roll": 0.00049764005234465,
                        "pitch": -0.5558475852012634,
                        "yaw": -80.76927947998047
                    }
                },
                "velocity": {
                    "x": 1.2958532571792603,
                    "y": -7.986659526824951,
                    "z": -0.07958797365427017
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.99547004699707,
                "transform": {
                    "location": {
                        "x": 966.201171875,
                        "y": 3386.532470703125,
                        "z": 370.0636901855469
                    },
                    "rotation": {
                        "roll": 0.0032619074918329716,
                        "pitch": -0.5889330506324768,
                        "yaw": -80.94395446777344
                    }
                },
                "velocity": {
                    "x": 1.2747797966003418,
                    "y": -7.892759799957275,
                    "z": -0.08259130269289017
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.7403564453125,
                        "y": 3302.732421875,
                        "z": 368.8777160644531
                    },
                    "rotation": {
                        "roll": -5.3369518582258024e-08,
                        "pitch": 1.0328338146209717,
                        "yaw": 97.21468353271484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.104073524475098,
                "transform": {
                    "location": {
                        "x": 976.1480102539062,
                        "y": 3345.26708984375,
                        "z": 369.55859375
                    },
                    "rotation": {
                        "roll": -0.00015254832396749407,
                        "pitch": -0.8386515378952026,
                        "yaw": -80.85276794433594
                    }
                },
                "velocity": {
                    "x": 1.2882081270217896,
                    "y": -8.000188827514648,
                    "z": -0.11622776836156845
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025825500488281,
                "transform": {
                    "location": {
                        "x": 972.9440307617188,
                        "y": 3344.721435546875,
                        "z": 369.549560546875
                    },
                    "rotation": {
                        "roll": 0.0009549952810630202,
                        "pitch": -0.8409738540649414,
                        "yaw": -80.86438751220703
                    }
                },
                "velocity": {
                    "x": 1.2741453647613525,
                    "y": -7.9232096672058105,
                    "z": -0.1148335412144661
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.560297966003418,
                "transform": {
                    "location": {
                        "x": 972.7227172851562,
                        "y": 3324.292724609375,
                        "z": 369.2459411621094
                    },
                    "rotation": {
                        "roll": -0.012908924371004105,
                        "pitch": 0.7902118563652039,
                        "yaw": 98.983154296875
                    }
                },
                "velocity": {
                    "x": -1.336451530456543,
                    "y": 8.454215049743652,
                    "z": 0.13727402687072754
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 982.468505859375,
                        "y": 3302.8935546875,
                        "z": 368.85650634765625
                    },
                    "rotation": {
                        "roll": -5.337024688856218e-08,
                        "pitch": -1.0752288103103638,
                        "yaw": -83.40034484863281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 979.2578735351562,
                        "y": 3302.34521484375,
                        "z": 368.85400390625
                    },
                    "rotation": {
                        "roll": -5.337024688856218e-08,
                        "pitch": -1.0752288103103638,
                        "yaw": -83.40034484863281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.53584098815918,
                "transform": {
                    "location": {
                        "x": 951.8358154296875,
                        "y": 3434.11767578125,
                        "z": 370.4488830566406
                    },
                    "rotation": {
                        "roll": 0.005841971840709448,
                        "pitch": 0.36580443382263184,
                        "yaw": 99.75090026855469
                    }
                },
                "velocity": {
                    "x": -1.1200695037841797,
                    "y": 6.439027786254883,
                    "z": 0.03983081877231598
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.293701171875,
                        "y": 3450.13330078125,
                        "z": 370.53656005859375
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.4102783203125,
                        "y": 3288.002197265625,
                        "z": 368.5826416015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1600323915481567,
                        "yaw": 95.36956787109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.975061893463135,
                "transform": {
                    "location": {
                        "x": 969.4786376953125,
                        "y": 3344.533447265625,
                        "z": 369.5577697753906
                    },
                    "rotation": {
                        "roll": -0.0003662216186057776,
                        "pitch": 0.7665384411811829,
                        "yaw": 99.1229476928711
                    }
                },
                "velocity": {
                    "x": -1.2655823230743408,
                    "y": 7.873169898986816,
                    "z": 0.11449113488197327
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.646994590759277,
                "transform": {
                    "location": {
                        "x": 966.5870361328125,
                        "y": 3362.507080078125,
                        "z": 369.7992858886719
                    },
                    "rotation": {
                        "roll": -0.00012209784472361207,
                        "pitch": 0.6646388173103333,
                        "yaw": 99.15531158447266
                    }
                },
                "velocity": {
                    "x": -1.3728582859039307,
                    "y": 8.536678314208984,
                    "z": 0.10437089949846268
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.010575294494629,
                "transform": {
                    "location": {
                        "x": 963.6766967773438,
                        "y": 3380.6708984375,
                        "z": 370.0057678222656
                    },
                    "rotation": {
                        "roll": -0.0023498611990362406,
                        "pitch": 0.6317924857139587,
                        "yaw": 98.99748992919922
                    }
                },
                "velocity": {
                    "x": -1.2756391763687134,
                    "y": 7.907872676849365,
                    "z": 0.08719667047262192
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1474530696868896,
                "transform": {
                    "location": {
                        "x": 954.8009643554688,
                        "y": 3410.289306640625,
                        "z": 370.2713928222656
                    },
                    "rotation": {
                        "roll": 0.0012630471028387547,
                        "pitch": 0.6275850534439087,
                        "yaw": 99.14462280273438
                    }
                },
                "velocity": {
                    "x": -0.5002337098121643,
                    "y": 3.1073696613311768,
                    "z": 0.021932058036327362
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.768803119659424,
                "transform": {
                    "location": {
                        "x": 956.4036254882812,
                        "y": 3400.328369140625,
                        "z": 370.1885986328125
                    },
                    "rotation": {
                        "roll": 0.0009303766419179738,
                        "pitch": 0.037354301661252975,
                        "yaw": 99.13848876953125
                    }
                },
                "velocity": {
                    "x": -0.4397832155227661,
                    "y": 2.733555555343628,
                    "z": 0.023148993030190468
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.19850148260593414,
        "expert_target_speed": 10.0,
        "target_point": [
            21.288331606317556,
            0.8446707275029364
        ],
        "target_point_next": [
            72.26523110535894,
            2.3775511678390053
        ]
    },
    "185": {
        "acceleration": [
            0.6819677352905273,
            -2.5835800170898438,
            -0.05051463842391968
        ],
        "angular_velocity": [
            -1.1599704027175903,
            0.0731520727276802,
            -0.8801093101501465
        ],
        "forward_vector": [
            -0.12270385771989822,
            0.9923751354217529,
            0.01163694728165865
        ],
        "right_vector": [
            -0.9924420118331909,
            -0.12267621606588364,
            -0.003062199568375945
        ],
        "location": [
            961.5806884765625,
            3375.96923828125,
            369.9552307128906
        ],
        "rotation": [
            0.17546327412128448,
            0.6667630076408386,
            97.04865264892578
        ],
        "velocity": [
            -2.172208070755005,
            17.385120391845703,
            0.19720323383808136
        ],
        "speed": 17.520299624767336,
        "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": 25.62547492980957,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                956.2890625,
                3401.041259765625,
                370.1947326660156
            ],
            "velocity": [
                -0.4758203327655792,
                2.958494186401367,
                0.02549913339316845
            ],
            "speed_kmh": 10.787838980731284,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.4694671630859375,
                "transform": {
                    "location": {
                        "x": 962.8798217773438,
                        "y": 3427.296875,
                        "z": 370.3836364746094
                    },
                    "rotation": {
                        "roll": -0.00442505581304431,
                        "pitch": -0.3730171024799347,
                        "yaw": -80.22716522216797
                    }
                },
                "velocity": {
                    "x": 1.0914589166641235,
                    "y": -6.376618385314941,
                    "z": -0.03818359225988388
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.152425765991211,
                "transform": {
                    "location": {
                        "x": 959.9417114257812,
                        "y": 3425.2275390625,
                        "z": 370.3751220703125
                    },
                    "rotation": {
                        "roll": -0.004058836959302425,
                        "pitch": -0.3823881149291992,
                        "yaw": -80.29607391357422
                    }
                },
                "velocity": {
                    "x": 1.3714747428894043,
                    "y": -8.036063194274902,
                    "z": -0.05285250395536423
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.016834259033203,
                "transform": {
                    "location": {
                        "x": 969.6491088867188,
                        "y": 3385.611572265625,
                        "z": 370.0386962890625
                    },
                    "rotation": {
                        "roll": 0.00016702910943422467,
                        "pitch": -0.6161171793937683,
                        "yaw": -80.78443908691406
                    }
                },
                "velocity": {
                    "x": 1.28119957447052,
                    "y": -7.913343906402588,
                    "z": -0.08451271802186966
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.087976455688477,
                "transform": {
                    "location": {
                        "x": 966.5205078125,
                        "y": 3384.552978515625,
                        "z": 370.04290771484375
                    },
                    "rotation": {
                        "roll": 0.0031308168545365334,
                        "pitch": -0.6297844052314758,
                        "yaw": -80.95375061035156
                    }
                },
                "velocity": {
                    "x": 1.2853745222091675,
                    "y": -7.984746932983398,
                    "z": -0.0835956260561943
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.5087890625,
                        "y": 3305.729248046875,
                        "z": 368.9309997558594
                    },
                    "rotation": {
                        "roll": -5.3369518582258024e-08,
                        "pitch": 1.0328338146209717,
                        "yaw": 97.21468353271484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.068580627441406,
                "transform": {
                    "location": {
                        "x": 976.4691772460938,
                        "y": 3343.271728515625,
                        "z": 369.5293273925781
                    },
                    "rotation": {
                        "roll": 0.001055562635883689,
                        "pitch": -0.8333718180656433,
                        "yaw": -80.85820007324219
                    }
                },
                "velocity": {
                    "x": 1.2816410064697266,
                    "y": -7.965310096740723,
                    "z": -0.11499742418527603
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.040167808532715,
                "transform": {
                    "location": {
                        "x": 973.2628173828125,
                        "y": 3342.739013671875,
                        "z": 369.5206298828125
                    },
                    "rotation": {
                        "roll": -0.00024409874458797276,
                        "pitch": -0.8394438624382019,
                        "yaw": -80.86490631103516
                    }
                },
                "velocity": {
                    "x": 1.2763382196426392,
                    "y": -7.937381267547607,
                    "z": -0.11509855836629868
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.040975570678711,
                "transform": {
                    "location": {
                        "x": 972.381591796875,
                        "y": 3326.44482421875,
                        "z": 369.2810363769531
                    },
                    "rotation": {
                        "roll": -0.00628660898655653,
                        "pitch": 0.9481531381607056,
                        "yaw": 99.01097869873047
                    }
                },
                "velocity": {
                    "x": -1.4182336330413818,
                    "y": 8.927886009216309,
                    "z": 0.14391785860061646
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86179,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 982.6761474609375,
                        "y": 3300.82080078125,
                        "z": 368.8221740722656
                    },
                    "rotation": {
                        "roll": 1.0674200723315153e-07,
                        "pitch": -1.1176443099975586,
                        "yaw": -84.01537322998047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86178,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 979.4624633789062,
                        "y": 3300.271728515625,
                        "z": 368.81982421875
                    },
                    "rotation": {
                        "roll": 1.0674200723315153e-07,
                        "pitch": -1.1176443099975586,
                        "yaw": -84.01537322998047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.455972194671631,
                "transform": {
                    "location": {
                        "x": 951.5609130859375,
                        "y": 3435.732666015625,
                        "z": 370.4588317871094
                    },
                    "rotation": {
                        "roll": -0.003936780616641045,
                        "pitch": 0.3434082269668579,
                        "yaw": 99.66090393066406
                    }
                },
                "velocity": {
                    "x": -1.0658478736877441,
                    "y": 6.3672709465026855,
                    "z": 0.037490252405405045
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.9627685546875,
                        "y": 3452.189697265625,
                        "z": 370.54681396484375
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 977.1478881835938,
                        "y": 3290.943603515625,
                        "z": 368.64361572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 1.1600323915481567,
                        "yaw": 95.36956787109375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.292434692382812,
                "transform": {
                    "location": {
                        "x": 969.159912109375,
                        "y": 3346.51513671875,
                        "z": 369.5862731933594
                    },
                    "rotation": {
                        "roll": 9.77673553279601e-05,
                        "pitch": 0.8308241367340088,
                        "yaw": 99.15254211425781
                    }
                },
                "velocity": {
                    "x": -1.316418170928955,
                    "y": 8.186476707458496,
                    "z": 0.11448939889669418
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.060293197631836,
                "transform": {
                    "location": {
                        "x": 966.2532348632812,
                        "y": 3364.579345703125,
                        "z": 369.8240966796875
                    },
                    "rotation": {
                        "roll": -6.10764545854181e-05,
                        "pitch": 0.730543315410614,
                        "yaw": 99.12532806396484
                    }
                },
                "velocity": {
                    "x": -1.280833125114441,
                    "y": 7.957308769226074,
                    "z": 0.09502462297677994
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.077291488647461,
                "transform": {
                    "location": {
                        "x": 963.3572387695312,
                        "y": 3382.65673828125,
                        "z": 370.0278015136719
                    },
                    "rotation": {
                        "roll": -0.0017394834430888295,
                        "pitch": 0.6340737342834473,
                        "yaw": 98.99388885498047
                    }
                },
                "velocity": {
                    "x": -1.2829594612121582,
                    "y": 7.974254608154297,
                    "z": 0.08897241204977036
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1486358642578125,
                "transform": {
                    "location": {
                        "x": 954.675048828125,
                        "y": 3411.07177734375,
                        "z": 370.2772521972656
                    },
                    "rotation": {
                        "roll": 0.0011465564602985978,
                        "pitch": 0.6418123245239258,
                        "yaw": 99.14335632324219
                    }
                },
                "velocity": {
                    "x": -0.500178873538971,
                    "y": 3.1085782051086426,
                    "z": 0.021692609414458275
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 2.99662184715271,
                "transform": {
                    "location": {
                        "x": 956.2890625,
                        "y": 3401.041259765625,
                        "z": 370.1947326660156
                    },
                    "rotation": {
                        "roll": -6.10364877502434e-05,
                        "pitch": 0.03383675590157509,
                        "yaw": 99.13814544677734
                    }
                },
                "velocity": {
                    "x": -0.4758203327655792,
                    "y": 2.958494186401367,
                    "z": 0.02549913339316845
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3310323655605316,
        "expert_target_speed": 10.0,
        "target_point": [
            16.858915114722475,
            0.9633946415710666
        ],
        "target_point_next": [
            67.82480472795496,
            2.826752071462625
        ]
    },
    "190": {
        "acceleration": [
            0.7904243469238281,
            -5.30059814453125,
            -0.06653517484664917
        ],
        "angular_velocity": [
            -1.1998387575149536,
            0.14639708399772644,
            -0.3764174282550812
        ],
        "forward_vector": [
            -0.11997296661138535,
            0.992760181427002,
            0.005812611896544695
        ],
        "right_vector": [
            -0.9927764534950256,
            -0.11996389180421829,
            -0.0018860347336158156
        ],
        "location": [
            961.0621948242188,
            3380.177001953125,
            370.0031433105469
        ],
        "rotation": [
            0.1080637201666832,
            0.3330399990081787,
            96.89066314697266
        ],
        "velocity": [
            -1.9737069606781006,
            16.24139976501465,
            0.17808949947357178
        ],
        "speed": 16.36088584073757,
        "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": 22.17755126953125,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                956.1658935546875,
                3401.806396484375,
                370.2013854980469
            ],
            "velocity": [
                -0.5046608448028564,
                3.1343510150909424,
                0.025687025859951973
            ],
            "speed_kmh": 11.429361437053105,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.929043292999268,
                "transform": {
                    "location": {
                        "x": 963.144287109375,
                        "y": 3425.7529296875,
                        "z": 370.3736267089844
                    },
                    "rotation": {
                        "roll": -0.004302992485463619,
                        "pitch": -0.403472900390625,
                        "yaw": -80.23299407958984
                    }
                },
                "velocity": {
                    "x": 1.0013384819030762,
                    "y": -5.843733310699463,
                    "z": -0.04072070121765137
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.241705417633057,
                "transform": {
                    "location": {
                        "x": 960.254638671875,
                        "y": 3423.3720703125,
                        "z": 370.36273193359375
                    },
                    "rotation": {
                        "roll": -0.001220699748955667,
                        "pitch": -0.4040534794330597,
                        "yaw": -80.45294952392578
                    }
                },
                "velocity": {
                    "x": 1.188987135887146,
                    "y": -7.1432623863220215,
                    "z": -0.049118369817733765
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.056991577148438,
                "transform": {
                    "location": {
                        "x": 969.9700317382812,
                        "y": 3383.62841796875,
                        "z": 370.01702880859375
                    },
                    "rotation": {
                        "roll": 0.0002739712072070688,
                        "pitch": -0.6307064890861511,
                        "yaw": -80.80847930908203
                    }
                },
                "velocity": {
                    "x": 1.2867395877838135,
                    "y": -7.9530863761901855,
                    "z": -0.08848488330841064
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.045319557189941,
                "transform": {
                    "location": {
                        "x": 966.841552734375,
                        "y": 3382.55810546875,
                        "z": 370.0207214355469
                    },
                    "rotation": {
                        "roll": 0.0019224148709326982,
                        "pitch": -0.6316763758659363,
                        "yaw": -80.97578430175781
                    }
                },
                "velocity": {
                    "x": 1.278934359550476,
                    "y": -7.9425249099731445,
                    "z": -0.08824941515922546
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.0921630859375,
                        "y": 3309.12158203125,
                        "z": 368.99169921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9904320240020752,
                        "yaw": 97.82971954345703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.099967956542969,
                "transform": {
                    "location": {
                        "x": 976.7902221679688,
                        "y": 3341.276123046875,
                        "z": 369.5002746582031
                    },
                    "rotation": {
                        "roll": 0.00030597636941820383,
                        "pitch": -0.8281193971633911,
                        "yaw": -80.86101531982422
                    }
                },
                "velocity": {
                    "x": 1.2854573726654053,
                    "y": -7.996481895446777,
                    "z": -0.1155935674905777
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029030799865723,
                "transform": {
                    "location": {
                        "x": 973.581787109375,
                        "y": 3340.756103515625,
                        "z": 369.49169921875
                    },
                    "rotation": {
                        "roll": -0.0003357822133693844,
                        "pitch": -0.8360629081726074,
                        "yaw": -80.86166381835938
                    }
                },
                "velocity": {
                    "x": 1.2751346826553345,
                    "y": -7.926298141479492,
                    "z": -0.11475757509469986
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.595264434814453,
                "transform": {
                    "location": {
                        "x": 972.0082397460938,
                        "y": 3328.783935546875,
                        "z": 369.31866455078125
                    },
                    "rotation": {
                        "roll": -0.0043640052899718285,
                        "pitch": 0.9777346849441528,
                        "yaw": 99.09842681884766
                    }
                },
                "velocity": {
                    "x": -1.5157390832901,
                    "y": 9.473602294921875,
                    "z": 0.15000417828559875
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.95367431640625,
                "transform": {
                    "location": {
                        "x": 951.3091430664062,
                        "y": 3437.233642578125,
                        "z": 370.467529296875
                    },
                    "rotation": {
                        "roll": 0.0012988293310627341,
                        "pitch": 0.36443838477134705,
                        "yaw": 99.55831146240234
                    }
                },
                "velocity": {
                    "x": -0.9813100695610046,
                    "y": 5.8721489906311035,
                    "z": 0.033642854541540146
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.6319580078125,
                        "y": 3454.24609375,
                        "z": 370.5570983886719
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.8650512695312,
                        "y": 3293.830810546875,
                        "z": 368.7017517089844
                    },
                    "rotation": {
                        "roll": 5.337100361657576e-08,
                        "pitch": 1.1176238059997559,
                        "yaw": 95.984619140625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.413881301879883,
                "transform": {
                    "location": {
                        "x": 968.8204956054688,
                        "y": 3348.62451171875,
                        "z": 369.61566162109375
                    },
                    "rotation": {
                        "roll": -0.000793441548012197,
                        "pitch": 0.7742633819580078,
                        "yaw": 99.1270523071289
                    }
                },
                "velocity": {
                    "x": -1.3366944789886475,
                    "y": 8.306252479553223,
                    "z": 0.1132202297449112
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.321486473083496,
                "transform": {
                    "location": {
                        "x": 965.931396484375,
                        "y": 3366.5791015625,
                        "z": 369.8485107421875
                    },
                    "rotation": {
                        "roll": 0.0003029760264325887,
                        "pitch": 0.6549263000488281,
                        "yaw": 99.16950988769531
                    }
                },
                "velocity": {
                    "x": -1.3234161138534546,
                    "y": 8.215011596679688,
                    "z": 0.09640779346227646
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.011037826538086,
                "transform": {
                    "location": {
                        "x": 963.037841796875,
                        "y": 3384.6416015625,
                        "z": 370.0495300292969
                    },
                    "rotation": {
                        "roll": -0.0019226233707740903,
                        "pitch": 0.6179203391075134,
                        "yaw": 98.98371124267578
                    }
                },
                "velocity": {
                    "x": -1.2734053134918213,
                    "y": 7.908738613128662,
                    "z": 0.08378645032644272
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1625349521636963,
                "transform": {
                    "location": {
                        "x": 954.5494384765625,
                        "y": 3411.8525390625,
                        "z": 370.2830810546875
                    },
                    "rotation": {
                        "roll": 0.0032874448224902153,
                        "pitch": 0.6368194818496704,
                        "yaw": 99.14273834228516
                    }
                },
                "velocity": {
                    "x": -0.5024468898773193,
                    "y": 3.1222894191741943,
                    "z": 0.021986111998558044
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1748228073120117,
                "transform": {
                    "location": {
                        "x": 956.1658935546875,
                        "y": 3401.806396484375,
                        "z": 370.2013854980469
                    },
                    "rotation": {
                        "roll": 0.0007834610296413302,
                        "pitch": 0.05622611567378044,
                        "yaw": 99.14007568359375
                    }
                },
                "velocity": {
                    "x": -0.5046608448028564,
                    "y": 3.1343510150909424,
                    "z": 0.025687025859951973
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.533768892288208,
        "expert_target_speed": 10.0,
        "target_point": [
            12.616617986111509,
            0.9999507498135876
        ],
        "target_point_next": [
            63.57717648725096,
            3.0038175696579428
        ]
    },
    "195": {
        "acceleration": [
            -0.12291669845581055,
            -4.7531890869140625,
            -0.10267943143844604
        ],
        "angular_velocity": [
            -0.5387042760848999,
            0.6322712898254395,
            3.5157153606414795
        ],
        "forward_vector": [
            -0.12748272716999054,
            0.9918380975723267,
            0.002289531286805868
        ],
        "right_vector": [
            -0.991839587688446,
            -0.12748579680919647,
            0.0012522145407274365
        ],
        "location": [
            960.5787353515625,
            3384.0556640625,
            370.0463562011719
        ],
        "rotation": [
            -0.0717468187212944,
            0.13118059933185577,
            97.32417297363281
        ],
        "velocity": [
            -1.9292991161346436,
            14.868099212646484,
            0.1599617302417755
        ],
        "speed": 14.992750557406634,
        "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": 19.07887077331543,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                956.0403442382812,
                3402.586181640625,
                370.2082214355469
            ],
            "velocity": [
                -0.5017538070678711,
                3.118847608566284,
                0.026130780577659607
            ],
            "speed_kmh": 11.37261031489877,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.138949871063232,
                "transform": {
                    "location": {
                        "x": 963.3927001953125,
                        "y": 3424.2880859375,
                        "z": 370.36334228515625
                    },
                    "rotation": {
                        "roll": -0.0016174045158550143,
                        "pitch": -0.38852164149284363,
                        "yaw": -80.36382293701172
                    }
                },
                "velocity": {
                    "x": 1.012939453125,
                    "y": -6.054659366607666,
                    "z": -0.04192592576146126
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.067493438720703,
                "transform": {
                    "location": {
                        "x": 960.5648803710938,
                        "y": 3421.505126953125,
                        "z": 370.34967041015625
                    },
                    "rotation": {
                        "roll": -0.001464826869778335,
                        "pitch": -0.3756057322025299,
                        "yaw": -80.58855438232422
                    }
                },
                "velocity": {
                    "x": 1.3133503198623657,
                    "y": -7.959686756134033,
                    "z": -0.054312217980623245
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077763557434082,
                "transform": {
                    "location": {
                        "x": 970.2922973632812,
                        "y": 3381.635009765625,
                        "z": 369.9947814941406
                    },
                    "rotation": {
                        "roll": -0.0003967886441387236,
                        "pitch": -0.6309796571731567,
                        "yaw": -80.81885528564453
                    }
                },
                "velocity": {
                    "x": 1.288777232170105,
                    "y": -7.9738006591796875,
                    "z": -0.08837347477674484
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.078421592712402,
                "transform": {
                    "location": {
                        "x": 967.162109375,
                        "y": 3380.5703125,
                        "z": 369.99859619140625
                    },
                    "rotation": {
                        "roll": -3.052427928196266e-05,
                        "pitch": -0.6347294449806213,
                        "yaw": -80.94755554199219
                    }
                },
                "velocity": {
                    "x": 1.287283182144165,
                    "y": -7.974705696105957,
                    "z": -0.08872169256210327
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.7479248046875,
                        "y": 3311.720458984375,
                        "z": 369.0378112792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9904320240020752,
                        "yaw": 97.82971954345703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.072810173034668,
                "transform": {
                    "location": {
                        "x": 977.1111450195312,
                        "y": 3339.28076171875,
                        "z": 369.4709777832031
                    },
                    "rotation": {
                        "roll": 0.0004997517098672688,
                        "pitch": -0.8425037860870361,
                        "yaw": -80.86376190185547
                    }
                },
                "velocity": {
                    "x": 1.281751036643982,
                    "y": -7.969496250152588,
                    "z": -0.12046647071838379
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.04277515411377,
                "transform": {
                    "location": {
                        "x": 973.9010009765625,
                        "y": 3338.772705078125,
                        "z": 369.4625244140625
                    },
                    "rotation": {
                        "roll": -0.00036625590291805565,
                        "pitch": -0.8507614731788635,
                        "yaw": -80.8566665649414
                    }
                },
                "velocity": {
                    "x": 1.2779080867767334,
                    "y": -7.939693450927734,
                    "z": -0.12020213156938553
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.924972534179688,
                "transform": {
                    "location": {
                        "x": 971.626220703125,
                        "y": 3331.170166015625,
                        "z": 369.35638427734375
                    },
                    "rotation": {
                        "roll": -0.0030517519917339087,
                        "pitch": 0.9490069150924683,
                        "yaw": 99.09382629394531
                    }
                },
                "velocity": {
                    "x": -1.5700584650039673,
                    "y": 9.798821449279785,
                    "z": 0.1519862562417984
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 953.8550415039062,
                        "y": 3462.7001953125,
                        "z": 370.9764709472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.24468468129634857,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.754777431488037,
                "transform": {
                    "location": {
                        "x": 951.0494995117188,
                        "y": 3438.78515625,
                        "z": 370.4772644042969
                    },
                    "rotation": {
                        "roll": 0.0014402394881471992,
                        "pitch": 0.27617186307907104,
                        "yaw": 99.4945297241211
                    }
                },
                "velocity": {
                    "x": -1.1113178730010986,
                    "y": 6.6626176834106445,
                    "z": 0.03889387845993042
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.3009033203125,
                        "y": 3456.302490234375,
                        "z": 370.5666809082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.5884399414062,
                        "y": 3296.597412109375,
                        "z": 368.7570495605469
                    },
                    "rotation": {
                        "roll": 5.337100361657576e-08,
                        "pitch": 1.1176238059997559,
                        "yaw": 95.984619140625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.969717025756836,
                "transform": {
                    "location": {
                        "x": 968.4990234375,
                        "y": 3350.621826171875,
                        "z": 369.6422424316406
                    },
                    "rotation": {
                        "roll": -0.0004272133228369057,
                        "pitch": 0.7123955488204956,
                        "yaw": 99.15938568115234
                    }
                },
                "velocity": {
                    "x": -1.266167402267456,
                    "y": 7.867812156677246,
                    "z": 0.10363231599330902
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.295461654663086,
                "transform": {
                    "location": {
                        "x": 965.5936279296875,
                        "y": 3368.67333984375,
                        "z": 369.873046875
                    },
                    "rotation": {
                        "roll": 0.00020702688198070973,
                        "pitch": 0.6534509658813477,
                        "yaw": 99.13432312011719
                    }
                },
                "velocity": {
                    "x": -1.3179965019226074,
                    "y": 8.189531326293945,
                    "z": 0.09562547504901886
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.076690673828125,
                "transform": {
                    "location": {
                        "x": 962.7182006835938,
                        "y": 3386.626708984375,
                        "z": 370.0704345703125
                    },
                    "rotation": {
                        "roll": 0.000574724399484694,
                        "pitch": 0.5660450458526611,
                        "yaw": 98.99760437011719
                    }
                },
                "velocity": {
                    "x": -1.2824817895889282,
                    "y": 7.973763465881348,
                    "z": 0.08524183183908463
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1649885177612305,
                "transform": {
                    "location": {
                        "x": 954.423828125,
                        "y": 3412.6328125,
                        "z": 370.2889099121094
                    },
                    "rotation": {
                        "roll": 0.0028857730794698,
                        "pitch": 0.6369697451591492,
                        "yaw": 99.14319610595703
                    }
                },
                "velocity": {
                    "x": -0.5029803514480591,
                    "y": 3.1246867179870605,
                    "z": 0.022299394011497498
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1590583324432373,
                "transform": {
                    "location": {
                        "x": 956.0403442382812,
                        "y": 3402.586181640625,
                        "z": 370.2082214355469
                    },
                    "rotation": {
                        "roll": -0.0003662102681118995,
                        "pitch": 0.16078947484493256,
                        "yaw": 99.1392593383789
                    }
                },
                "velocity": {
                    "x": -0.5017538070678711,
                    "y": 3.118847608566284,
                    "z": 0.026130780577659607
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.7254337072372437,
        "expert_target_speed": 10.0,
        "target_point": [
            8.71517438340589,
            0.9194145927810897
        ],
        "target_point_next": [
            59.68943536088699,
            2.5376614155425177
        ]
    },
    "200": {
        "acceleration": [
            0.27442216873168945,
            -8.369712829589844,
            -0.14281779527664185
        ],
        "angular_velocity": [
            -1.0491737127304077,
            0.2692013680934906,
            3.8857216835021973
        ],
        "forward_vector": [
            -0.14406482875347137,
            0.989564061164856,
            -0.0028885563369840384
        ],
        "right_vector": [
            -0.9895626306533813,
            -0.14405350387096405,
            0.00380403408780694
        ],
        "location": [
            960.104736328125,
            3387.52734375,
            370.08319091796875
        ],
        "rotation": [
            -0.2179565280675888,
            -0.16550230979919434,
            98.28316497802734
        ],
        "velocity": [
            -1.8656505346298218,
            12.849493026733398,
            0.12647102773189545
        ],
        "speed": 12.984225928465461,
        "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": 16.382946014404297,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                955.9151611328125,
                3403.364990234375,
                370.2149658203125
            ],
            "velocity": [
                -0.4995547831058502,
                3.102787494659424,
                0.024535464122891426
            ],
            "speed_kmh": 11.314226257553265,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.2418951988220215,
                "transform": {
                    "location": {
                        "x": 963.6677856445312,
                        "y": 3422.644287109375,
                        "z": 370.3517761230469
                    },
                    "rotation": {
                        "roll": 0.00018048325728159398,
                        "pitch": -0.3575740456581116,
                        "yaw": -80.5251235961914
                    }
                },
                "velocity": {
                    "x": 1.184955358505249,
                    "y": -7.144124984741211,
                    "z": -0.0490538589656353
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.274131774902344,
                "transform": {
                    "location": {
                        "x": 960.9041748046875,
                        "y": 3419.446533203125,
                        "z": 370.3356018066406
                    },
                    "rotation": {
                        "roll": -0.0001526020496385172,
                        "pitch": -0.3805234730243683,
                        "yaw": -80.66636657714844
                    }
                },
                "velocity": {
                    "x": 1.336165428161621,
                    "y": -8.165337562561035,
                    "z": -0.05635164678096771
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.016942024230957,
                "transform": {
                    "location": {
                        "x": 970.6126098632812,
                        "y": 3379.6513671875,
                        "z": 369.9727783203125
                    },
                    "rotation": {
                        "roll": -9.154608414974064e-05,
                        "pitch": -0.6305220723152161,
                        "yaw": -80.82939147949219
                    }
                },
                "velocity": {
                    "x": 1.276036024093628,
                    "y": -7.914255619049072,
                    "z": -0.08747666329145432
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.036677360534668,
                "transform": {
                    "location": {
                        "x": 967.482177734375,
                        "y": 3378.5810546875,
                        "z": 369.9765625
                    },
                    "rotation": {
                        "roll": 0.00251120631583035,
                        "pitch": -0.6296409368515015,
                        "yaw": -80.98069763183594
                    }
                },
                "velocity": {
                    "x": 1.276389718055725,
                    "y": -7.934193134307861,
                    "z": -0.08717983216047287
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.3950805664062,
                        "y": 3314.1796875,
                        "z": 369.0799255371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9480370283126831,
                        "yaw": 98.44479370117188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.10103988647461,
                "transform": {
                    "location": {
                        "x": 977.4322509765625,
                        "y": 3337.28515625,
                        "z": 369.4406433105469
                    },
                    "rotation": {
                        "roll": 0.0005430925521068275,
                        "pitch": -0.892145574092865,
                        "yaw": -80.86054229736328
                    }
                },
                "velocity": {
                    "x": 1.2866157293319702,
                    "y": -7.997262001037598,
                    "z": -0.12356486916542053
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026962280273438,
                "transform": {
                    "location": {
                        "x": 974.2199096679688,
                        "y": 3336.7900390625,
                        "z": 369.4324645996094
                    },
                    "rotation": {
                        "roll": 0.00023417627380695194,
                        "pitch": -0.8998705148696899,
                        "yaw": -80.8602523803711
                    }
                },
                "velocity": {
                    "x": 1.2749391794204712,
                    "y": -7.92415714263916,
                    "z": -0.11993089318275452
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.47954273223877,
                "transform": {
                    "location": {
                        "x": 971.2344970703125,
                        "y": 3333.612060546875,
                        "z": 369.3944091796875
                    },
                    "rotation": {
                        "roll": -0.004211461637169123,
                        "pitch": 0.8500784635543823,
                        "yaw": 99.13077545166016
                    }
                },
                "velocity": {
                    "x": -1.5030535459518433,
                    "y": 9.358484268188477,
                    "z": 0.14606288075447083
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.0534057617188,
                        "y": 3461.467041015625,
                        "z": 370.73944091796875
                    },
                    "rotation": {
                        "roll": 2.6680691433966786e-08,
                        "pitch": -0.25573593378067017,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.0403442382812,
                        "y": 3463.36181640625,
                        "z": 370.7686767578125
                    },
                    "rotation": {
                        "roll": 2.6680691433966786e-08,
                        "pitch": -0.25573593378067017,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.7221245765686035,
                "transform": {
                    "location": {
                        "x": 950.7604370117188,
                        "y": 3440.5341796875,
                        "z": 370.48773193359375
                    },
                    "rotation": {
                        "roll": -0.002807607175782323,
                        "pitch": 0.24684302508831024,
                        "yaw": 99.42535400390625
                    }
                },
                "velocity": {
                    "x": -1.2486234903335571,
                    "y": 7.620377063751221,
                    "z": 0.04469113424420357
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.9700317382812,
                        "y": 3458.358642578125,
                        "z": 370.5763244628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.3165283203125,
                        "y": 3299.068359375,
                        "z": 368.80487060546875
                    },
                    "rotation": {
                        "roll": 1.0674049377712436e-07,
                        "pitch": 1.0752356052398682,
                        "yaw": 96.59965515136719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.674708366394043,
                "transform": {
                    "location": {
                        "x": 968.169677734375,
                        "y": 3352.668701171875,
                        "z": 369.669677734375
                    },
                    "rotation": {
                        "roll": -0.00228878459893167,
                        "pitch": 0.837490439414978,
                        "yaw": 99.13165283203125
                    }
                },
                "velocity": {
                    "x": -1.3784337043762207,
                    "y": 8.563720703125,
                    "z": 0.11483319848775864
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.956693649291992,
                "transform": {
                    "location": {
                        "x": 965.281005859375,
                        "y": 3370.607666015625,
                        "z": 369.8948059082031
                    },
                    "rotation": {
                        "roll": -0.0018310821615159512,
                        "pitch": 0.7682527899742126,
                        "yaw": 98.96220397949219
                    }
                },
                "velocity": {
                    "x": -1.1057591438293457,
                    "y": 6.8677849769592285,
                    "z": 0.08009399473667145
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.011966705322266,
                "transform": {
                    "location": {
                        "x": 962.3989868164062,
                        "y": 3388.612060546875,
                        "z": 370.0901184082031
                    },
                    "rotation": {
                        "roll": -0.0021057201083749533,
                        "pitch": 0.5610522031784058,
                        "yaw": 98.9747543334961
                    }
                },
                "velocity": {
                    "x": -1.2720764875411987,
                    "y": 7.9099578857421875,
                    "z": 0.07751209288835526
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1627702713012695,
                "transform": {
                    "location": {
                        "x": 954.2981567382812,
                        "y": 3413.4130859375,
                        "z": 370.2945251464844
                    },
                    "rotation": {
                        "roll": -0.004394524730741978,
                        "pitch": 0.621799886226654,
                        "yaw": 99.14376831054688
                    }
                },
                "velocity": {
                    "x": -0.5025993585586548,
                    "y": 3.1225032806396484,
                    "z": 0.021972913295030594
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1428403854370117,
                "transform": {
                    "location": {
                        "x": 955.9151611328125,
                        "y": 3403.364990234375,
                        "z": 370.2149658203125
                    },
                    "rotation": {
                        "roll": 0.0016427288064733148,
                        "pitch": 0.18235237896442413,
                        "yaw": 99.14012145996094
                    }
                },
                "velocity": {
                    "x": -0.4995547831058502,
                    "y": 3.102787494659424,
                    "z": 0.024535464122891426
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.8397512435913086,
        "expert_target_speed": 10.0,
        "target_point": [
            56.219796604745675,
            1.5693836170281772
        ],
        "target_point_next": [
            107.21424357258391,
            2.334216570007298
        ]
    },
    "205": {
        "acceleration": [
            0.27707815170288086,
            -6.6493988037109375,
            -0.06505087018013
        ],
        "angular_velocity": [
            0.1682894378900528,
            0.01580907218158245,
            3.3360188007354736
        ],
        "forward_vector": [
            -0.15970459580421448,
            0.987156093120575,
            -0.004161822143942118
        ],
        "right_vector": [
            -0.9871563911437988,
            -0.15968438982963562,
            0.0048042829148471355
        ],
        "location": [
            959.6499633789062,
            3390.489501953125,
            370.1123352050781
        ],
        "rotation": [
            -0.2752685844898224,
            -0.23845554888248444,
            99.18983459472656
        ],
        "velocity": [
            -1.795951008796692,
            10.986526489257812,
            0.10674989223480225
        ],
        "speed": 11.132349452166935,
        "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": 14.178084373474121,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                955.7916870117188,
                3404.132080078125,
                370.2211608886719
            ],
            "velocity": [
                -0.4889361560344696,
                3.037975788116455,
                0.024901457130908966
            ],
            "speed_kmh": 11.077812191587803,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.004718780517578,
                "transform": {
                    "location": {
                        "x": 963.9810180664062,
                        "y": 3420.756591796875,
                        "z": 370.3388977050781
                    },
                    "rotation": {
                        "roll": -0.0002441575052216649,
                        "pitch": -0.36361876130104065,
                        "yaw": -80.62110900878906
                    }
                },
                "velocity": {
                    "x": 1.3035115003585815,
                    "y": -7.89768648147583,
                    "z": -0.05406120792031288
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.9075751304626465,
                "transform": {
                    "location": {
                        "x": 961.228515625,
                        "y": 3417.461181640625,
                        "z": 370.3219909667969
                    },
                    "rotation": {
                        "roll": -0.00045779361971654,
                        "pitch": -0.395290344953537,
                        "yaw": -80.74430847167969
                    }
                },
                "velocity": {
                    "x": 1.2689440250396729,
                    "y": -7.804914474487305,
                    "z": -0.053238674998283386
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.090124130249023,
                "transform": {
                    "location": {
                        "x": 970.933349609375,
                        "y": 3377.662841796875,
                        "z": 369.9506530761719
                    },
                    "rotation": {
                        "roll": -0.0007325020269490778,
                        "pitch": -0.6301600337028503,
                        "yaw": -80.8411636352539
                    }
                },
                "velocity": {
                    "x": 1.2875639200210571,
                    "y": -7.986485004425049,
                    "z": -0.0913383737206459
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.090917587280273,
                "transform": {
                    "location": {
                        "x": 967.8026123046875,
                        "y": 3376.590576171875,
                        "z": 369.95416259765625
                    },
                    "rotation": {
                        "roll": 0.0008948649046942592,
                        "pitch": -0.6451659798622131,
                        "yaw": -80.96231842041016
                    }
                },
                "velocity": {
                    "x": 1.286806344985962,
                    "y": -7.987403869628906,
                    "z": -0.09195715934038162
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.9606323242188,
                        "y": 3317.12646484375,
                        "z": 369.1295471191406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.05980682373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.070526123046875,
                "transform": {
                    "location": {
                        "x": 977.7531127929688,
                        "y": 3335.290283203125,
                        "z": 369.4095764160156
                    },
                    "rotation": {
                        "roll": 0.0013438202440738678,
                        "pitch": -0.9044194221496582,
                        "yaw": -80.86296844482422
                    }
                },
                "velocity": {
                    "x": 1.281446933746338,
                    "y": -7.967148303985596,
                    "z": -0.12579412758350372
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.043415069580078,
                "transform": {
                    "location": {
                        "x": 974.5391235351562,
                        "y": 3334.806396484375,
                        "z": 369.4013977050781
                    },
                    "rotation": {
                        "roll": 0.0006090299575589597,
                        "pitch": -0.904624342918396,
                        "yaw": -80.8563003540039
                    }
                },
                "velocity": {
                    "x": 1.278135061264038,
                    "y": -7.940248966217041,
                    "z": -0.1238938719034195
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.246190071105957,
                "transform": {
                    "location": {
                        "x": 970.8870849609375,
                        "y": 3335.7763671875,
                        "z": 369.4281311035156
                    },
                    "rotation": {
                        "roll": -0.002166680758818984,
                        "pitch": 0.7321962118148804,
                        "yaw": 99.10469055175781
                    }
                },
                "velocity": {
                    "x": -1.3071391582489014,
                    "y": 8.140935897827148,
                    "z": 0.1273118555545807
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.383544921875,
                        "y": 3459.4150390625,
                        "z": 370.609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2749629020690918,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.3707885742188,
                        "y": 3461.30859375,
                        "z": 370.63775634765625
                    },
                    "rotation": {
                        "roll": 2.6680691433966786e-08,
                        "pitch": -0.25573593378067017,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.599311828613281,
                "transform": {
                    "location": {
                        "x": 950.416015625,
                        "y": 3442.63232421875,
                        "z": 370.50006103515625
                    },
                    "rotation": {
                        "roll": 1.3340329729771838e-08,
                        "pitch": 0.24090075492858887,
                        "yaw": 99.32749938964844
                    }
                },
                "velocity": {
                    "x": -1.3894213438034058,
                    "y": 8.486184120178223,
                    "z": 0.04850110039114952
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.6390380859375,
                        "y": 3460.4150390625,
                        "z": 370.58544921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.016845703125,
                        "y": 3301.748291015625,
                        "z": 368.8563537597656
                    },
                    "rotation": {
                        "roll": 1.0674049377712436e-07,
                        "pitch": 1.0752356052398682,
                        "yaw": 96.59965515136719
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.975462913513184,
                "transform": {
                    "location": {
                        "x": 967.8341064453125,
                        "y": 3354.752197265625,
                        "z": 369.6974792480469
                    },
                    "rotation": {
                        "roll": -0.001037599635310471,
                        "pitch": 0.7021434307098389,
                        "yaw": 99.16756439208984
                    }
                },
                "velocity": {
                    "x": -1.2680679559707642,
                    "y": 7.873305320739746,
                    "z": 0.10521212965250015
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.270938396453857,
                "transform": {
                    "location": {
                        "x": 965.0265502929688,
                        "y": 3372.190185546875,
                        "z": 369.91351318359375
                    },
                    "rotation": {
                        "roll": -0.0036621158942580223,
                        "pitch": 0.7425371408462524,
                        "yaw": 98.9195327758789
                    }
                },
                "velocity": {
                    "x": -0.9929702281951904,
                    "y": 6.191398620605469,
                    "z": 0.07255260646343231
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.076987266540527,
                "transform": {
                    "location": {
                        "x": 962.0789794921875,
                        "y": 3390.59814453125,
                        "z": 370.1096496582031
                    },
                    "rotation": {
                        "roll": -0.0037231403402984142,
                        "pitch": 0.5642692446708679,
                        "yaw": 99.014892578125
                    }
                },
                "velocity": {
                    "x": -1.287319302558899,
                    "y": 7.973354816436768,
                    "z": 0.07838523387908936
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1620967388153076,
                "transform": {
                    "location": {
                        "x": 954.1725463867188,
                        "y": 3414.193359375,
                        "z": 370.3000183105469
                    },
                    "rotation": {
                        "roll": -3.0524101021001115e-05,
                        "pitch": 0.603529155254364,
                        "yaw": 99.14257049560547
                    }
                },
                "velocity": {
                    "x": -0.5024540424346924,
                    "y": 3.121847152709961,
                    "z": 0.02156219445168972
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.077169895172119,
                "transform": {
                    "location": {
                        "x": 955.7916870117188,
                        "y": 3404.132080078125,
                        "z": 370.2211608886719
                    },
                    "rotation": {
                        "roll": 0.0014387343544512987,
                        "pitch": 0.1613563746213913,
                        "yaw": 99.14054107666016
                    }
                },
                "velocity": {
                    "x": -0.4889361560344696,
                    "y": 3.037975788116455,
                    "z": 0.024901457130908966
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.6660804748535156,
        "expert_target_speed": 0,
        "target_point": [
            53.24082324526274,
            0.703735761199674
        ],
        "target_point_next": [
            104.24098807588766,
            0.6615664510346626
        ]
    },
    "210": {
        "acceleration": [
            1.376786231994629,
            -9.21804428100586,
            -0.04454120993614197
        ],
        "angular_velocity": [
            -0.541149377822876,
            -0.5576173663139343,
            1.6588945388793945
        ],
        "forward_vector": [
            -0.17065924406051636,
            0.9853098392486572,
            -0.006320673041045666
        ],
        "right_vector": [
            -0.9853273034095764,
            -0.1706399917602539,
            0.0034732180647552013
        ],
        "location": [
            959.2308959960938,
            3392.975830078125,
            370.13714599609375
        ],
        "rotation": [
            -0.1990051120519638,
            -0.36215028166770935,
            99.82634735107422
        ],
        "velocity": [
            -1.5178017616271973,
            8.71147346496582,
            0.08774911612272263
        ],
        "speed": 8.842708415321757,
        "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": 12.429079055786133,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                955.6707763671875,
                3404.8837890625,
                370.2269592285156
            ],
            "velocity": [
                -0.4804041087627411,
                2.986497640609741,
                0.021725129336118698
            ],
            "speed_kmh": 10.889882922805706,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.53386402130127,
                "transform": {
                    "location": {
                        "x": 964.3292846679688,
                        "y": 3418.63671875,
                        "z": 370.32440185546875
                    },
                    "rotation": {
                        "roll": 0.00036227432428859174,
                        "pitch": -0.36907607316970825,
                        "yaw": -80.7307357788086
                    }
                },
                "velocity": {
                    "x": 1.374807596206665,
                    "y": -8.422196388244629,
                    "z": -0.057828545570373535
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.124171257019043,
                "transform": {
                    "location": {
                        "x": 961.5490112304688,
                        "y": 3415.4892578125,
                        "z": 370.3083801269531
                    },
                    "rotation": {
                        "roll": -0.0009460428263992071,
                        "pitch": -0.38766103982925415,
                        "yaw": -80.7793197631836
                    }
                },
                "velocity": {
                    "x": 1.3008956909179688,
                    "y": -8.019142150878906,
                    "z": -0.056398775428533554
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022477149963379,
                "transform": {
                    "location": {
                        "x": 971.2536010742188,
                        "y": 3375.6748046875,
                        "z": 369.9278869628906
                    },
                    "rotation": {
                        "roll": 0.0010017299791797996,
                        "pitch": -0.6614081859588623,
                        "yaw": -80.84894561767578
                    }
                },
                "velocity": {
                    "x": 1.27385413646698,
                    "y": -7.920166492462158,
                    "z": -0.09163026511669159
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.027782440185547,
                "transform": {
                    "location": {
                        "x": 968.1227416992188,
                        "y": 3374.6025390625,
                        "z": 369.931396484375
                    },
                    "rotation": {
                        "roll": 0.0030845217406749725,
                        "pitch": -0.6702259182929993,
                        "yaw": -80.97994232177734
                    }
                },
                "velocity": {
                    "x": 1.2743492126464844,
                    "y": -7.925439834594727,
                    "z": -0.09345897287130356
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.5045776367188,
                        "y": 3320.098388671875,
                        "z": 369.1786193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.05980682373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.101481437683105,
                "transform": {
                    "location": {
                        "x": 978.07421875,
                        "y": 3333.294189453125,
                        "z": 369.3780822753906
                    },
                    "rotation": {
                        "roll": 7.567488501081243e-05,
                        "pitch": -0.8933340311050415,
                        "yaw": -80.86192321777344
                    }
                },
                "velocity": {
                    "x": 1.2873876094818115,
                    "y": -7.997532367706299,
                    "z": -0.12693119049072266
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027316093444824,
                "transform": {
                    "location": {
                        "x": 974.858154296875,
                        "y": 3332.8232421875,
                        "z": 369.3702392578125
                    },
                    "rotation": {
                        "roll": 0.0013678884133696556,
                        "pitch": -0.9027392268180847,
                        "yaw": -80.86125183105469
                    }
                },
                "velocity": {
                    "x": 1.2736377716064453,
                    "y": -7.9246745109558105,
                    "z": -0.12320529669523239
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.459271430969238,
                "transform": {
                    "location": {
                        "x": 970.560546875,
                        "y": 3337.8095703125,
                        "z": 369.4594421386719
                    },
                    "rotation": {
                        "roll": -0.000427280057920143,
                        "pitch": 0.8443752527236938,
                        "yaw": 99.14080810546875
                    }
                },
                "velocity": {
                    "x": -1.3412984609603882,
                    "y": 8.35131549835205,
                    "z": 0.1254206746816635
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.017452716827393,
                "transform": {
                    "location": {
                        "x": 954.6714477539062,
                        "y": 3457.67919921875,
                        "z": 370.5821533203125
                    },
                    "rotation": {
                        "roll": -0.052459716796875,
                        "pitch": -0.5999432802200317,
                        "yaw": -80.56416320800781
                    }
                },
                "velocity": {
                    "x": 1.1772124767303467,
                    "y": -6.917111873626709,
                    "z": -0.1112559512257576
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.252974033355713,
                "transform": {
                    "location": {
                        "x": 957.6549682617188,
                        "y": 3459.6005859375,
                        "z": 370.5943298339844
                    },
                    "rotation": {
                        "roll": -0.01049803476780653,
                        "pitch": -0.40450426936149597,
                        "yaw": -80.5439224243164
                    }
                },
                "velocity": {
                    "x": 1.0507911443710327,
                    "y": -6.163877010345459,
                    "z": 0.04629906639456749
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.8903326988220215,
                "transform": {
                    "location": {
                        "x": 950.0843505859375,
                        "y": 3444.65869140625,
                        "z": 370.5103759765625
                    },
                    "rotation": {
                        "roll": -0.000915542826987803,
                        "pitch": 0.3533939719200134,
                        "yaw": 99.2927474975586
                    }
                },
                "velocity": {
                    "x": -1.2667033672332764,
                    "y": 7.787882328033447,
                    "z": 0.041233986616134644
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.30810546875,
                        "y": 3462.471435546875,
                        "z": 370.5943908691406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.6244506835938,
                        "y": 3304.9912109375,
                        "z": 368.916748046875
                    },
                    "rotation": {
                        "roll": -5.3369518582258024e-08,
                        "pitch": 1.0328338146209717,
                        "yaw": 97.21468353271484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.8635334968566895,
                "transform": {
                    "location": {
                        "x": 967.5422973632812,
                        "y": 3356.56494140625,
                        "z": 369.7208251953125
                    },
                    "rotation": {
                        "roll": -0.0005188009236007929,
                        "pitch": 0.5817750096321106,
                        "yaw": 99.16236114501953
                    }
                },
                "velocity": {
                    "x": -1.0910314321517944,
                    "y": 6.775716304779053,
                    "z": 0.08606088161468506
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.795741081237793,
                "transform": {
                    "location": {
                        "x": 964.7709350585938,
                        "y": 3373.78857421875,
                        "z": 369.93310546875
                    },
                    "rotation": {
                        "roll": -6.102179395384155e-05,
                        "pitch": 0.6274825930595398,
                        "yaw": 99.0743408203125
                    }
                },
                "velocity": {
                    "x": -1.0794525146484375,
                    "y": 6.709008693695068,
                    "z": 0.07797891646623611
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.028607368469238,
                "transform": {
                    "location": {
                        "x": 961.7595825195312,
                        "y": 3392.583740234375,
                        "z": 370.12921142578125
                    },
                    "rotation": {
                        "roll": -0.0005493232165463269,
                        "pitch": 0.5643648505210876,
                        "yaw": 98.97627258300781
                    }
                },
                "velocity": {
                    "x": -1.273959994316101,
                    "y": 7.92649507522583,
                    "z": 0.0789894312620163
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162386655807495,
                "transform": {
                    "location": {
                        "x": 954.0469970703125,
                        "y": 3414.9736328125,
                        "z": 370.3052978515625
                    },
                    "rotation": {
                        "roll": -6.1021539295325056e-05,
                        "pitch": 0.6051205992698669,
                        "yaw": 99.14167022705078
                    }
                },
                "velocity": {
                    "x": -0.5022832155227661,
                    "y": 3.122169017791748,
                    "z": 0.02148033119738102
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.024967670440674,
                "transform": {
                    "location": {
                        "x": 955.6707763671875,
                        "y": 3404.8837890625,
                        "z": 370.2269592285156
                    },
                    "rotation": {
                        "roll": -3.0529179639415815e-05,
                        "pitch": 0.14958113431930542,
                        "yaw": 99.14107513427734
                    }
                },
                "velocity": {
                    "x": -0.4804041087627411,
                    "y": 2.986497640609741,
                    "z": 0.021725129336118698
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.5282924771308899,
        "expert_target_speed": 0,
        "target_point": [
            50.723984090265496,
            0.12363686966674514
        ],
        "target_point_next": [
            101.72053332754727,
            -0.48509697293239995
        ]
    },
    "215": {
        "acceleration": [
            1.1579632759094238,
            -5.501346588134766,
            -0.037681907415390015
        ],
        "angular_velocity": [
            0.6606542468070984,
            -0.39889657497406006,
            -0.6600624322891235
        ],
        "forward_vector": [
            -0.17191457748413086,
            0.9850988984107971,
            -0.0050524258986115456
        ],
        "right_vector": [
            -0.9851118326187134,
            -0.1719105839729309,
            0.0012175816809758544
        ],
        "location": [
            958.890380859375,
            3394.93408203125,
            370.1551818847656
        ],
        "rotation": [
            -0.0697631984949112,
            -0.289483904838562,
            99.89928436279297
        ],
        "velocity": [
            -1.2387882471084595,
            7.161675453186035,
            0.06616809964179993
        ],
        "speed": 7.268025290128087,
        "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": 11.229084014892578,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                955.546875,
                3405.653564453125,
                370.2325744628906
            ],
            "velocity": [
                -0.5085991024971008,
                3.158233880996704,
                0.021734904497861862
            ],
            "speed_kmh": 11.516391953850832,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.172855377197266,
                "transform": {
                    "location": {
                        "x": 964.6641845703125,
                        "y": 3416.583740234375,
                        "z": 370.3106689453125
                    },
                    "rotation": {
                        "roll": 0.0009039545548148453,
                        "pitch": -0.39807024598121643,
                        "yaw": -80.79003143310547
                    }
                },
                "velocity": {
                    "x": 1.311653733253479,
                    "y": -8.066720008850098,
                    "z": -0.05627253279089928
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.106341361999512,
                "transform": {
                    "location": {
                        "x": 961.8750610351562,
                        "y": 3413.476806640625,
                        "z": 370.29400634765625
                    },
                    "rotation": {
                        "roll": -0.0016479601617902517,
                        "pitch": -0.41747480630874634,
                        "yaw": -80.80699157714844
                    }
                },
                "velocity": {
                    "x": 1.2934623956680298,
                    "y": -8.002272605895996,
                    "z": -0.05790925398468971
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.08056926727295,
                "transform": {
                    "location": {
                        "x": 971.5734252929688,
                        "y": 3373.68798828125,
                        "z": 369.90460205078125
                    },
                    "rotation": {
                        "roll": -0.00015259564679581672,
                        "pitch": -0.6656224131584167,
                        "yaw": -80.85660552978516
                    }
                },
                "velocity": {
                    "x": 1.2840248346328735,
                    "y": -7.977365493774414,
                    "z": -0.09232818335294724
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.095403671264648,
                "transform": {
                    "location": {
                        "x": 968.4428100585938,
                        "y": 3372.612060546875,
                        "z": 369.9079895019531
                    },
                    "rotation": {
                        "roll": 0.0021015990059822798,
                        "pitch": -0.6657658219337463,
                        "yaw": -80.97069549560547
                    }
                },
                "velocity": {
                    "x": 1.2859050035476685,
                    "y": -7.99208402633667,
                    "z": -0.09272409230470657
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.0036010742188,
                        "y": 3323.26025390625,
                        "z": 369.230224609375
                    },
                    "rotation": {
                        "roll": 5.336769959285448e-08,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.070619583129883,
                "transform": {
                    "location": {
                        "x": 978.395263671875,
                        "y": 3331.298583984375,
                        "z": 369.34674072265625
                    },
                    "rotation": {
                        "roll": -0.0008543840958736837,
                        "pitch": -0.8920499682426453,
                        "yaw": -80.85731506347656
                    }
                },
                "velocity": {
                    "x": 1.2824126482009888,
                    "y": -7.967087268829346,
                    "z": -0.12583698332309723
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.042941093444824,
                "transform": {
                    "location": {
                        "x": 975.17724609375,
                        "y": 3330.839599609375,
                        "z": 369.3391418457031
                    },
                    "rotation": {
                        "roll": -0.00012213138688821346,
                        "pitch": -0.900451123714447,
                        "yaw": -80.86036682128906
                    }
                },
                "velocity": {
                    "x": 1.27738618850708,
                    "y": -7.939894676208496,
                    "z": -0.12352146953344345
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.928759574890137,
                "transform": {
                    "location": {
                        "x": 970.2092895507812,
                        "y": 3339.99560546875,
                        "z": 369.49212646484375
                    },
                    "rotation": {
                        "roll": 0.00043203344102948904,
                        "pitch": 0.8777065873146057,
                        "yaw": 99.11815643310547
                    }
                },
                "velocity": {
                    "x": -1.4171639680862427,
                    "y": 8.814637184143066,
                    "z": 0.1286909282207489
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.797210216522217,
                "transform": {
                    "location": {
                        "x": 954.962646484375,
                        "y": 3455.9765625,
                        "z": 370.5611267089844
                    },
                    "rotation": {
                        "roll": -0.03985598310828209,
                        "pitch": -0.38940271735191345,
                        "yaw": -80.30228424072266
                    }
                },
                "velocity": {
                    "x": 1.1561352014541626,
                    "y": -6.697909355163574,
                    "z": -0.05854986980557442
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.468589782714844,
                "transform": {
                    "location": {
                        "x": 957.92138671875,
                        "y": 3458.03076171875,
                        "z": 370.59808349609375
                    },
                    "rotation": {
                        "roll": -0.0051269629038870335,
                        "pitch": -0.2902488708496094,
                        "yaw": -80.3756103515625
                    }
                },
                "velocity": {
                    "x": 1.0903173685073853,
                    "y": -6.376035690307617,
                    "z": -0.005598411429673433
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.979072570800781,
                "transform": {
                    "location": {
                        "x": 949.7691040039062,
                        "y": 3446.598388671875,
                        "z": 370.5210876464844
                    },
                    "rotation": {
                        "roll": -0.0021057003177702427,
                        "pitch": 0.29565155506134033,
                        "yaw": 99.23548889160156
                    }
                },
                "velocity": {
                    "x": -1.2766870260238647,
                    "y": 7.87616491317749,
                    "z": 0.04119587689638138
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.9771728515625,
                        "y": 3464.52783203125,
                        "z": 370.6031799316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.244873046875,
                        "y": 3307.9677734375,
                        "z": 368.9708251953125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9904320240020752,
                        "yaw": 97.82971954345703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.792299747467041,
                "transform": {
                    "location": {
                        "x": 967.3010864257812,
                        "y": 3358.063720703125,
                        "z": 369.73974609375
                    },
                    "rotation": {
                        "roll": -0.0033569519873708487,
                        "pitch": 0.549365758895874,
                        "yaw": 98.95344543457031
                    }
                },
                "velocity": {
                    "x": -0.9170287847518921,
                    "y": 5.718812942504883,
                    "z": 0.07049846649169922
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.221504211425781,
                "transform": {
                    "location": {
                        "x": 964.4827880859375,
                        "y": 3375.5791015625,
                        "z": 369.95465087890625
                    },
                    "rotation": {
                        "roll": -0.0004577740328386426,
                        "pitch": 0.5076674222946167,
                        "yaw": 99.06510925292969
                    }
                },
                "velocity": {
                    "x": -1.3063678741455078,
                    "y": 8.116535186767578,
                    "z": 0.09161683917045593
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.283164978027344,
                "transform": {
                    "location": {
                        "x": 961.4351196289062,
                        "y": 3394.599609375,
                        "z": 370.1487121582031
                    },
                    "rotation": {
                        "roll": -0.002319333842024207,
                        "pitch": 0.5613800287246704,
                        "yaw": 99.01600646972656
                    }
                },
                "velocity": {
                    "x": -1.3180372714996338,
                    "y": 8.177268028259277,
                    "z": 0.07670516520738602
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1627309322357178,
                "transform": {
                    "location": {
                        "x": 953.92138671875,
                        "y": 3415.75390625,
                        "z": 370.3106994628906
                    },
                    "rotation": {
                        "roll": -0.0012816926464438438,
                        "pitch": 0.6057147979736328,
                        "yaw": 99.14110565185547
                    }
                },
                "velocity": {
                    "x": -0.5024369955062866,
                    "y": 3.1224963665008545,
                    "z": 0.020997179672122
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.198997735977173,
                "transform": {
                    "location": {
                        "x": 955.546875,
                        "y": 3405.653564453125,
                        "z": 370.2325744628906
                    },
                    "rotation": {
                        "roll": 0.0002819470828399062,
                        "pitch": 0.030367018654942513,
                        "yaw": 99.14125061035156
                    }
                },
                "velocity": {
                    "x": -0.5085991024971008,
                    "y": 3.158233880996704,
                    "z": 0.021734904497861862
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.13747115433216095,
        "expert_target_speed": 0,
        "target_point": [
            48.73646366531616,
            0.06025671953266887
        ],
        "target_point_next": [
            99.73219639876348,
            -0.6134152929768071
        ]
    },
    "220": {
        "acceleration": [
            1.4686024188995361,
            -7.352313995361328,
            -0.07264994084835052
        ],
        "angular_velocity": [
            -0.7805591225624084,
            -0.18274495005607605,
            -3.1954920291900635
        ],
        "forward_vector": [
            -0.1643935889005661,
            0.986386239528656,
            -0.004120934288948774
        ],
        "right_vector": [
            -0.9863938689231873,
            -0.16439776122570038,
            -0.0006979205063544214
        ],
        "location": [
            958.6137084960938,
            3396.5869140625,
            370.1698303222656
        ],
        "rotation": [
            0.039988238364458084,
            -0.2361128032207489,
            99.46208953857422
        ],
        "velocity": [
            -0.9055514931678772,
            5.6632561683654785,
            0.04873049631714821
        ],
        "speed": 5.73519781134951,
        "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": 10.35269546508789,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                955.421142578125,
                3406.434814453125,
                370.23834228515625
            ],
            "velocity": [
                -0.5044957995414734,
                3.137012481689453,
                0.023808278143405914
            ],
            "speed_kmh": 11.43867364791722,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.46060037612915,
                "transform": {
                    "location": {
                        "x": 964.9846801757812,
                        "y": 3414.60986328125,
                        "z": 370.296630859375
                    },
                    "rotation": {
                        "roll": 0.0015511361416429281,
                        "pitch": -0.42633354663848877,
                        "yaw": -80.81202697753906
                    }
                },
                "velocity": {
                    "x": 1.1928738355636597,
                    "y": -7.364431381225586,
                    "z": -0.05257764831185341
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.997772216796875,
                "transform": {
                    "location": {
                        "x": 962.1950073242188,
                        "y": 3411.4970703125,
                        "z": 370.2794494628906
                    },
                    "rotation": {
                        "roll": -0.00018309950246475637,
                        "pitch": -0.42711901664733887,
                        "yaw": -80.82765197753906
                    }
                },
                "velocity": {
                    "x": 1.2746604681015015,
                    "y": -7.895317077636719,
                    "z": -0.0597650408744812
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029305458068848,
                "transform": {
                    "location": {
                        "x": 971.8932495117188,
                        "y": 3371.699951171875,
                        "z": 369.8813171386719
                    },
                    "rotation": {
                        "roll": -0.00015256892947945744,
                        "pitch": -0.6644954085350037,
                        "yaw": -80.86042022705078
                    }
                },
                "velocity": {
                    "x": 1.275244116783142,
                    "y": -7.926847457885742,
                    "z": -0.09267855435609818
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.026809692382812,
                "transform": {
                    "location": {
                        "x": 968.7632446289062,
                        "y": 3370.623046875,
                        "z": 369.88470458984375
                    },
                    "rotation": {
                        "roll": -9.154676808975637e-05,
                        "pitch": -0.6683681011199951,
                        "yaw": -80.96592712402344
                    }
                },
                "velocity": {
                    "x": 1.2785613536834717,
                    "y": -7.923798084259033,
                    "z": -0.091537244617939
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.5645751953125,
                        "y": 3325.990234375,
                        "z": 369.2745666503906
                    },
                    "rotation": {
                        "roll": 5.336769959285448e-08,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.10167407989502,
                "transform": {
                    "location": {
                        "x": 978.7164916992188,
                        "y": 3329.302978515625,
                        "z": 369.31494140625
                    },
                    "rotation": {
                        "roll": -3.047288191737607e-05,
                        "pitch": -0.9093918204307556,
                        "yaw": -80.8575668334961
                    }
                },
                "velocity": {
                    "x": 1.2869552373886108,
                    "y": -7.997781753540039,
                    "z": -0.1278938204050064
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027901649475098,
                "transform": {
                    "location": {
                        "x": 975.4963989257812,
                        "y": 3328.856689453125,
                        "z": 369.3077392578125
                    },
                    "rotation": {
                        "roll": -0.0007018917822279036,
                        "pitch": -0.9171441197395325,
                        "yaw": -80.85679626464844
                    }
                },
                "velocity": {
                    "x": 1.2754249572753906,
                    "y": -7.924917221069336,
                    "z": -0.12721674144268036
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.941673278808594,
                "transform": {
                    "location": {
                        "x": 969.8741455078125,
                        "y": 3342.0791015625,
                        "z": 369.5220642089844
                    },
                    "rotation": {
                        "roll": 0.0006387801840901375,
                        "pitch": 0.7226271629333496,
                        "yaw": 99.1534194946289
                    }
                },
                "velocity": {
                    "x": -1.2617517709732056,
                    "y": 7.839961528778076,
                    "z": 0.11472400277853012
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.847837448120117,
                "transform": {
                    "location": {
                        "x": 955.2412109375,
                        "y": 3454.359375,
                        "z": 370.5502624511719
                    },
                    "rotation": {
                        "roll": -0.005187975242733955,
                        "pitch": -0.6026617288589478,
                        "yaw": -80.22996520996094
                    }
                },
                "velocity": {
                    "x": 0.9777347445487976,
                    "y": -5.765408039093018,
                    "z": -0.036156974732875824
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.632967948913574,
                "transform": {
                    "location": {
                        "x": 958.1838989257812,
                        "y": 3456.493896484375,
                        "z": 370.59393310546875
                    },
                    "rotation": {
                        "roll": -0.00506591796875,
                        "pitch": -0.32016509771347046,
                        "yaw": -80.31034851074219
                    }
                },
                "velocity": {
                    "x": 0.950884222984314,
                    "y": -5.552084922790527,
                    "z": -0.02229965105652809
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.085762977600098,
                "transform": {
                    "location": {
                        "x": 949.4457397460938,
                        "y": 3448.5908203125,
                        "z": 370.5315246582031
                    },
                    "rotation": {
                        "roll": -0.0008544906158931553,
                        "pitch": 0.2767251133918762,
                        "yaw": 99.2191162109375
                    }
                },
                "velocity": {
                    "x": -1.2936291694641113,
                    "y": 7.981504440307617,
                    "z": 0.04098758473992348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.646240234375,
                        "y": 3466.584228515625,
                        "z": 370.6117858886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.852783203125,
                        "y": 3310.946533203125,
                        "z": 369.024169921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9904320240020752,
                        "yaw": 97.82971954345703
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.151985168457031,
                "transform": {
                    "location": {
                        "x": 967.0642700195312,
                        "y": 3359.553466796875,
                        "z": 369.7581481933594
                    },
                    "rotation": {
                        "roll": -0.0015564095228910446,
                        "pitch": 0.6925743222236633,
                        "yaw": 98.82262420654297
                    }
                },
                "velocity": {
                    "x": -0.9644462466239929,
                    "y": 6.075466156005859,
                    "z": 0.07402107119560242
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.1460542678833,
                "transform": {
                    "location": {
                        "x": 964.1322631835938,
                        "y": 3377.761474609375,
                        "z": 369.9792175292969
                    },
                    "rotation": {
                        "roll": 0.0007569799199700356,
                        "pitch": 0.5068615078926086,
                        "yaw": 99.13667297363281
                    }
                },
                "velocity": {
                    "x": -1.4541921615600586,
                    "y": 9.029153823852539,
                    "z": 0.10005832463502884
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.412455558776855,
                "transform": {
                    "location": {
                        "x": 961.1017456054688,
                        "y": 3396.6689453125,
                        "z": 370.1677551269531
                    },
                    "rotation": {
                        "roll": -0.0007629840984009206,
                        "pitch": 0.5140536427497864,
                        "yaw": 99.01739501953125
                    }
                },
                "velocity": {
                    "x": -1.336266279220581,
                    "y": 8.305323600769043,
                    "z": 0.0734410285949707
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.16261625289917,
                "transform": {
                    "location": {
                        "x": 953.7957763671875,
                        "y": 3416.5341796875,
                        "z": 370.3160095214844
                    },
                    "rotation": {
                        "roll": -0.0009765583672560751,
                        "pitch": 0.6067461371421814,
                        "yaw": 99.14140319824219
                    }
                },
                "velocity": {
                    "x": -0.5025009512901306,
                    "y": 3.1223669052124023,
                    "z": 0.021415328606963158
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1774091720581055,
                "transform": {
                    "location": {
                        "x": 955.421142578125,
                        "y": 3406.434814453125,
                        "z": 370.23834228515625
                    },
                    "rotation": {
                        "roll": -0.0015869108028709888,
                        "pitch": 0.09988468140363693,
                        "yaw": 99.14034271240234
                    }
                },
                "velocity": {
                    "x": -0.5044957995414734,
                    "y": 3.137012481689453,
                    "z": 0.023808278143405914
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6325241923332214,
        "expert_target_speed": 0,
        "target_point": [
            47.0587568970399,
            0.43094858899228683
        ],
        "target_point_next": [
            98.05814546545442,
            0.14641976883451768
        ]
    },
    "225": {
        "acceleration": [
            0.7234203815460205,
            -3.0857181549072266,
            0.015071257948875427
        ],
        "angular_velocity": [
            0.9242101311683655,
            0.07648520171642303,
            -2.2211453914642334
        ],
        "forward_vector": [
            -0.15251539647579193,
            0.988298773765564,
            -0.0021384935826063156
        ],
        "right_vector": [
            -0.9882997274398804,
            -0.1525184065103531,
            -0.0013235228834673762
        ],
        "location": [
            958.4204711914062,
            3397.849853515625,
            370.1800231933594
        ],
        "rotation": [
            0.07583247125148773,
            -0.12252675741910934,
            98.77274322509766
        ],
        "velocity": [
            -0.6567916870117188,
            4.595598220825195,
            0.037493254989385605
        ],
        "speed": 4.642294511055864,
        "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": 9.874490737915039,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                955.2953491210938,
                3407.216552734375,
                370.2442626953125
            ],
            "velocity": [
                -0.5025777816772461,
                3.1259570121765137,
                0.02331947349011898
            ],
            "speed_kmh": 11.39827055501214,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.693624496459961,
                "transform": {
                    "location": {
                        "x": 965.259765625,
                        "y": 3412.90771484375,
                        "z": 370.28436279296875
                    },
                    "rotation": {
                        "roll": 0.0004032338911201805,
                        "pitch": -0.45376360416412354,
                        "yaw": -80.79630279541016
                    }
                },
                "velocity": {
                    "x": 1.0673480033874512,
                    "y": -6.607799530029297,
                    "z": -0.04858704283833504
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.125587463378906,
                "transform": {
                    "location": {
                        "x": 962.5164794921875,
                        "y": 3409.504638671875,
                        "z": 370.264404296875
                    },
                    "rotation": {
                        "roll": -0.0003356888482812792,
                        "pitch": -0.4211767613887787,
                        "yaw": -80.83834075927734
                    }
                },
                "velocity": {
                    "x": 1.293679118156433,
                    "y": -8.021712303161621,
                    "z": -0.0607912577688694
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07778549194336,
                "transform": {
                    "location": {
                        "x": 972.2132568359375,
                        "y": 3369.712158203125,
                        "z": 369.8580322265625
                    },
                    "rotation": {
                        "roll": -0.0001830666878959164,
                        "pitch": -0.6636962890625,
                        "yaw": -80.85607147216797
                    }
                },
                "velocity": {
                    "x": 1.283469796180725,
                    "y": -7.974623680114746,
                    "z": -0.0933084636926651
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.094169616699219,
                "transform": {
                    "location": {
                        "x": 969.0834350585938,
                        "y": 3368.63330078125,
                        "z": 369.8613586425781
                    },
                    "rotation": {
                        "roll": 0.0007305059698410332,
                        "pitch": -0.6654652953147888,
                        "yaw": -80.96920013427734
                    }
                },
                "velocity": {
                    "x": 1.2850555181503296,
                    "y": -7.990971088409424,
                    "z": -0.09274061024188995
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.2495727539062,
                        "y": 3327.94677734375,
                        "z": 369.30615234375
                    },
                    "rotation": {
                        "roll": 2.6683723675091642e-08,
                        "pitch": 0.9008882641792297,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 978.9546508789062,
                        "y": 3327.232666015625,
                        "z": 369.2781677246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9182027578353882,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 975.7378540039062,
                        "y": 3326.802490234375,
                        "z": 369.2787780761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.9182027578353882,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.895122528076172,
                "transform": {
                    "location": {
                        "x": 969.5650024414062,
                        "y": 3344.000244140625,
                        "z": 369.55010986328125
                    },
                    "rotation": {
                        "roll": -0.0002746747341006994,
                        "pitch": 0.7948973774909973,
                        "yaw": 99.1312484741211
                    }
                },
                "velocity": {
                    "x": -1.255078911781311,
                    "y": 7.793911457061768,
                    "z": 0.11262113600969315
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.4842000007629395,
                "transform": {
                    "location": {
                        "x": 955.472412109375,
                        "y": 3452.990234375,
                        "z": 370.54229736328125
                    },
                    "rotation": {
                        "roll": 0.009977784007787704,
                        "pitch": -0.576536238193512,
                        "yaw": -80.38507080078125
                    }
                },
                "velocity": {
                    "x": 0.9070579409599304,
                    "y": -5.4085893630981445,
                    "z": -0.029273562133312225
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.079369068145752,
                "transform": {
                    "location": {
                        "x": 958.4037475585938,
                        "y": 3455.21044921875,
                        "z": 370.5882263183594
                    },
                    "rotation": {
                        "roll": -0.003784193890169263,
                        "pitch": -0.3460037112236023,
                        "yaw": -80.2347640991211
                    }
                },
                "velocity": {
                    "x": 0.8613557815551758,
                    "y": -5.005734920501709,
                    "z": -0.025927843526005745
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.022626876831055,
                "transform": {
                    "location": {
                        "x": 949.12451171875,
                        "y": 3450.577392578125,
                        "z": 370.5416564941406
                    },
                    "rotation": {
                        "roll": -0.0009460474248044193,
                        "pitch": 0.30014580488204956,
                        "yaw": 99.18739318847656
                    }
                },
                "velocity": {
                    "x": -1.2782728672027588,
                    "y": 7.920029163360596,
                    "z": 0.041350726038217545
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.367919921875,
                        "y": 3468.313720703125,
                        "z": 370.619140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.5642700195312,
                        "y": 3312.983154296875,
                        "z": 369.0592041015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9480370283126831,
                        "yaw": 98.44479370117188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.287008285522461,
                "transform": {
                    "location": {
                        "x": 966.7738037109375,
                        "y": 3361.372802734375,
                        "z": 369.7807312011719
                    },
                    "rotation": {
                        "roll": -0.006713913753628731,
                        "pitch": 0.9409814476966858,
                        "yaw": 99.062744140625
                    }
                },
                "velocity": {
                    "x": -1.3102256059646606,
                    "y": 8.182160377502441,
                    "z": 0.10031040012836456
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.322610855102539,
                "transform": {
                    "location": {
                        "x": 963.7853393554688,
                        "y": 3379.9150390625,
                        "z": 370.0016784667969
                    },
                    "rotation": {
                        "roll": -0.00021364499116316438,
                        "pitch": 0.6747884750366211,
                        "yaw": 99.12442779541016
                    }
                },
                "velocity": {
                    "x": -1.32268488407135,
                    "y": 8.216324806213379,
                    "z": 0.09144596010446548
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.131110191345215,
                "transform": {
                    "location": {
                        "x": 960.7702026367188,
                        "y": 3398.726806640625,
                        "z": 370.1854248046875
                    },
                    "rotation": {
                        "roll": -0.001922599389217794,
                        "pitch": 0.4569259583950043,
                        "yaw": 99.02227783203125
                    }
                },
                "velocity": {
                    "x": -1.2953652143478394,
                    "y": 8.026968955993652,
                    "z": 0.06897806376218796
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1624951362609863,
                "transform": {
                    "location": {
                        "x": 953.6702270507812,
                        "y": 3417.314208984375,
                        "z": 370.32135009765625
                    },
                    "rotation": {
                        "roll": -3.0524115572916344e-05,
                        "pitch": 0.6065344214439392,
                        "yaw": 99.14103698730469
                    }
                },
                "velocity": {
                    "x": -0.5021041035652161,
                    "y": 3.1223106384277344,
                    "z": 0.021048182621598244
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1661863327026367,
                "transform": {
                    "location": {
                        "x": 955.2953491210938,
                        "y": 3407.216552734375,
                        "z": 370.2442626953125
                    },
                    "rotation": {
                        "roll": -0.00018310145242139697,
                        "pitch": 0.11534139513969421,
                        "yaw": 99.14095306396484
                    }
                },
                "velocity": {
                    "x": -0.5025777816772461,
                    "y": 3.1259570121765137,
                    "z": 0.02331947349011898
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0007307529449463,
        "expert_target_speed": 0,
        "target_point": [
            45.77252990040329,
            0.9987351793840542
        ],
        "target_point_next": [
            96.77165046204959,
            1.3278141065359037
        ]
    },
    "230": {
        "acceleration": [
            0.28004884719848633,
            -0.9436607360839844,
            -0.011603981256484985
        ],
        "angular_velocity": [
            0.9662306308746338,
            0.2294330596923828,
            -2.311976909637451
        ],
        "forward_vector": [
            -0.14343640208244324,
            0.9896562695503235,
            0.00255238707177341
        ],
        "right_vector": [
            -0.989659309387207,
            -0.1434340924024582,
            -0.0010687117464840412
        ],
        "location": [
            958.2684326171875,
            3398.9423828125,
            370.1882629394531
        ],
        "rotation": [
            0.06123288348317146,
            0.1462411731481552,
            98.24677276611328
        ],
        "velocity": [
            -0.5587213635444641,
            4.215688228607178,
            0.03650982677936554
        ],
        "speed": 4.252551798967075,
        "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": 9.57114028930664,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                955.169677734375,
                3407.997802734375,
                370.25006103515625
            ],
            "velocity": [
                -0.5025681853294373,
                3.1233389377593994,
                0.022145146504044533
            ],
            "speed_kmh": 11.388929473779244,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.322505474090576,
                "transform": {
                    "location": {
                        "x": 965.536865234375,
                        "y": 3411.1923828125,
                        "z": 370.2711486816406
                    },
                    "rotation": {
                        "roll": 0.0006623453227803111,
                        "pitch": -0.4118672013282776,
                        "yaw": -80.81486511230469
                    }
                },
                "velocity": {
                    "x": 1.166667103767395,
                    "y": -7.228766441345215,
                    "z": -0.05390729755163193
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.038656234741211,
                "transform": {
                    "location": {
                        "x": 962.8381958007812,
                        "y": 3407.509033203125,
                        "z": 370.24951171875
                    },
                    "rotation": {
                        "roll": -0.0003051923413295299,
                        "pitch": -0.4228843152523041,
                        "yaw": -80.84434509277344
                    }
                },
                "velocity": {
                    "x": 1.2782809734344482,
                    "y": -7.9361443519592285,
                    "z": -0.06009260565042496
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.028504371643066,
                "transform": {
                    "location": {
                        "x": 972.533203125,
                        "y": 3367.724853515625,
                        "z": 369.8347473144531
                    },
                    "rotation": {
                        "roll": 0.00020534635405056179,
                        "pitch": -0.6643998026847839,
                        "yaw": -80.85636138916016
                    }
                },
                "velocity": {
                    "x": 1.2757352590560913,
                    "y": -7.925967693328857,
                    "z": -0.09178498387336731
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.02867603302002,
                "transform": {
                    "location": {
                        "x": 969.4035034179688,
                        "y": 3366.644287109375,
                        "z": 369.83795166015625
                    },
                    "rotation": {
                        "roll": 0.0015729197766631842,
                        "pitch": -0.6735795736312866,
                        "yaw": -80.97715759277344
                    }
                },
                "velocity": {
                    "x": 1.2767963409423828,
                    "y": -7.925928592681885,
                    "z": -0.09528117626905441
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.9227905273438,
                        "y": 3329.97802734375,
                        "z": 369.33892822265625
                    },
                    "rotation": {
                        "roll": 2.6683723675091642e-08,
                        "pitch": 0.9008882641792297,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 979.2830200195312,
                        "y": 3325.175537109375,
                        "z": 369.2447509765625
                    },
                    "rotation": {
                        "roll": -5.336769959285448e-08,
                        "pitch": -0.9182027578353882,
                        "yaw": -80.940185546875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.064453125,
                        "y": 3324.7451171875,
                        "z": 369.24560546875
                    },
                    "rotation": {
                        "roll": -5.336769959285448e-08,
                        "pitch": -0.9182027578353882,
                        "yaw": -80.940185546875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.714903831481934,
                "transform": {
                    "location": {
                        "x": 969.2340698242188,
                        "y": 3346.056884765625,
                        "z": 369.5799255371094
                    },
                    "rotation": {
                        "roll": -0.0004272608202882111,
                        "pitch": 0.9097470045089722,
                        "yaw": 99.1570053100586
                    }
                },
                "velocity": {
                    "x": -1.3842089176177979,
                    "y": 8.603421211242676,
                    "z": 0.12105339020490646
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.824379920959473,
                "transform": {
                    "location": {
                        "x": 955.7138671875,
                        "y": 3451.548583984375,
                        "z": 370.53271484375
                    },
                    "rotation": {
                        "roll": 0.0067162723280489445,
                        "pitch": -0.09512403607368469,
                        "yaw": -80.46854400634766
                    }
                },
                "velocity": {
                    "x": 1.1245239973068237,
                    "y": -6.731000900268555,
                    "z": -0.03513314202427864
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.474513530731201,
                "transform": {
                    "location": {
                        "x": 958.6233520507812,
                        "y": 3453.90625,
                        "z": 370.5810852050781
                    },
                    "rotation": {
                        "roll": 0.00272320955991745,
                        "pitch": -0.2767046093940735,
                        "yaw": -80.43624877929688
                    }
                },
                "velocity": {
                    "x": 0.8955459594726562,
                    "y": -5.400707244873047,
                    "z": -0.025597190484404564
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.995132923126221,
                "transform": {
                    "location": {
                        "x": 948.8056640625,
                        "y": 3452.55126953125,
                        "z": 370.5519714355469
                    },
                    "rotation": {
                        "roll": -3.0509459975291975e-05,
                        "pitch": 0.29144415259361267,
                        "yaw": 99.17533874511719
                    }
                },
                "velocity": {
                    "x": -1.2732446193695068,
                    "y": 7.8929948806762695,
                    "z": 0.04039732739329338
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.132080078125,
                        "y": 3469.77783203125,
                        "z": 370.6252746582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 974.2791748046875,
                        "y": 3314.980224609375,
                        "z": 369.0935363769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9480370283126831,
                        "yaw": 98.44479370117188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.798332214355469,
                "transform": {
                    "location": {
                        "x": 966.4277954101562,
                        "y": 3363.528564453125,
                        "z": 369.80706787109375
                    },
                    "rotation": {
                        "roll": -0.002441433956846595,
                        "pitch": 0.8283653259277344,
                        "yaw": 99.0575180053711
                    }
                },
                "velocity": {
                    "x": -1.3967608213424683,
                    "y": 8.686105728149414,
                    "z": 0.10615907609462738
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.562225341796875,
                "transform": {
                    "location": {
                        "x": 963.4534912109375,
                        "y": 3381.97607421875,
                        "z": 370.0250549316406
                    },
                    "rotation": {
                        "roll": 0.00030887057073414326,
                        "pitch": 0.6179203391075134,
                        "yaw": 99.1689224243164
                    }
                },
                "velocity": {
                    "x": -1.3617968559265137,
                    "y": 8.452730178833008,
                    "z": 0.09256915748119354
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.87533712387085,
                "transform": {
                    "location": {
                        "x": 960.4551391601562,
                        "y": 3400.679931640625,
                        "z": 370.2022705078125
                    },
                    "rotation": {
                        "roll": 0.0002559268905315548,
                        "pitch": 0.46067574620246887,
                        "yaw": 98.99005126953125
                    }
                },
                "velocity": {
                    "x": -1.2504236698150635,
                    "y": 7.775132656097412,
                    "z": 0.06847833842039108
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162543535232544,
                "transform": {
                    "location": {
                        "x": 953.5446166992188,
                        "y": 3418.0947265625,
                        "z": 370.32672119140625
                    },
                    "rotation": {
                        "roll": -0.00012206975952722132,
                        "pitch": 0.6056259870529175,
                        "yaw": 99.14007568359375
                    }
                },
                "velocity": {
                    "x": -0.5022059679031372,
                    "y": 3.1223416328430176,
                    "z": 0.021280154585838318
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1635916233062744,
                "transform": {
                    "location": {
                        "x": 955.169677734375,
                        "y": 3407.997802734375,
                        "z": 370.25006103515625
                    },
                    "rotation": {
                        "roll": 0.004344416316598654,
                        "pitch": 0.1171855479478836,
                        "yaw": 99.1418228149414
                    }
                },
                "velocity": {
                    "x": -0.5025681853294373,
                    "y": 3.1233389377593994,
                    "z": 0.022145146504044533
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0012974739074707,
        "expert_target_speed": 0,
        "target_point": [
            44.65839331319473,
            1.4251138941813046
        ],
        "target_point_next": [
            95.65234421375631,
            2.2223356655502275
        ]
    },
    "235": {
        "acceleration": [
            0.19617855548858643,
            -0.7026863098144531,
            -0.011324882507324219
        ],
        "angular_velocity": [
            0.44055283069610596,
            0.10804329812526703,
            -1.5099681615829468
        ],
        "forward_vector": [
            -0.13496576249599457,
            0.9908344745635986,
            0.005591720342636108
        ],
        "right_vector": [
            -0.9908502697944641,
            -0.13496363162994385,
            -0.0007563605904579163
        ],
        "location": [
            958.1345825195312,
            3399.97216796875,
            370.1965637207031
        ],
        "rotation": [
            0.04333695024251938,
            0.3203836679458618,
            97.75675964355469
        ],
        "velocity": [
            -0.49975505471229553,
            4.0264105796813965,
            0.035678472369909286
        ],
        "speed": 4.057306652310221,
        "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": 9.333637237548828,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                955.0439453125,
                3408.779052734375,
                370.25592041015625
            ],
            "velocity": [
                -0.5027302503585815,
                3.1235225200653076,
                0.021817568689584732
            ],
            "speed_kmh": 11.389666461750492,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.123557090759277,
                "transform": {
                    "location": {
                        "x": 965.8428955078125,
                        "y": 3409.296142578125,
                        "z": 370.25689697265625
                    },
                    "rotation": {
                        "roll": -0.00015257573977578431,
                        "pitch": -0.4003651738166809,
                        "yaw": -80.83958435058594
                    }
                },
                "velocity": {
                    "x": 1.2917912006378174,
                    "y": -8.019967079162598,
                    "z": -0.05985483154654503
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081681251525879,
                "transform": {
                    "location": {
                        "x": 963.1582641601562,
                        "y": 3405.521728515625,
                        "z": 370.2342529296875
                    },
                    "rotation": {
                        "roll": 0.0012966800713911653,
                        "pitch": -0.43930408358573914,
                        "yaw": -80.8506851196289
                    }
                },
                "velocity": {
                    "x": 1.2850379943847656,
                    "y": -7.978592872619629,
                    "z": -0.06561487168073654
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.08017635345459,
                "transform": {
                    "location": {
                        "x": 972.8532104492188,
                        "y": 3365.73681640625,
                        "z": 369.8108825683594
                    },
                    "rotation": {
                        "roll": -0.0001525696279713884,
                        "pitch": -0.6867071986198425,
                        "yaw": -80.8564224243164
                    }
                },
                "velocity": {
                    "x": 1.283968448638916,
                    "y": -7.976937770843506,
                    "z": -0.09559857845306396
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.092972755432129,
                "transform": {
                    "location": {
                        "x": 969.723876953125,
                        "y": 3364.654541015625,
                        "z": 369.8140869140625
                    },
                    "rotation": {
                        "roll": 0.0017868134891614318,
                        "pitch": -0.6968978047370911,
                        "yaw": -80.96685028076172
                    }
                },
                "velocity": {
                    "x": 1.2846038341522217,
                    "y": -7.9897966384887695,
                    "z": -0.0956532284617424
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.030846118927002,
                "transform": {
                    "location": {
                        "x": 971.6063232421875,
                        "y": 3331.925537109375,
                        "z": 369.3700256347656
                    },
                    "rotation": {
                        "roll": 0.013337290845811367,
                        "pitch": 1.0533722639083862,
                        "yaw": 99.26219177246094
                    }
                },
                "velocity": {
                    "x": -1.1702766418457031,
                    "y": 6.931774139404297,
                    "z": 0.11729955673217773
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86193,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 979.6112060546875,
                        "y": 3323.1181640625,
                        "z": 369.2112731933594
                    },
                    "rotation": {
                        "roll": -5.336769959285448e-08,
                        "pitch": -0.9182027578353882,
                        "yaw": -80.940185546875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86192,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.39013671875,
                        "y": 3322.68798828125,
                        "z": 369.21246337890625
                    },
                    "rotation": {
                        "roll": -5.336769959285448e-08,
                        "pitch": -0.9182027578353882,
                        "yaw": -80.940185546875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.490798950195312,
                "transform": {
                    "location": {
                        "x": 968.8851928710938,
                        "y": 3348.223876953125,
                        "z": 369.6100769042969
                    },
                    "rotation": {
                        "roll": 0.0002668809029273689,
                        "pitch": 0.7569829821586609,
                        "yaw": 99.12889862060547
                    }
                },
                "velocity": {
                    "x": -1.348280429840088,
                    "y": 8.38222599029541,
                    "z": 0.1187022402882576
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.260700225830078,
                "transform": {
                    "location": {
                        "x": 956.0335693359375,
                        "y": 3449.63427734375,
                        "z": 370.521240234375
                    },
                    "rotation": {
                        "roll": 0.004845137242227793,
                        "pitch": 0.2658582627773285,
                        "yaw": -80.51448059082031
                    }
                },
                "velocity": {
                    "x": 1.3585482835769653,
                    "y": -8.148116111755371,
                    "z": -0.04154257848858833
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.694189071655273,
                "transform": {
                    "location": {
                        "x": 958.8919067382812,
                        "y": 3452.2958984375,
                        "z": 370.5712890625
                    },
                    "rotation": {
                        "roll": 0.002952303970232606,
                        "pitch": -0.10519856959581375,
                        "yaw": -80.58683776855469
                    }
                },
                "velocity": {
                    "x": 1.2561906576156616,
                    "y": -7.59084939956665,
                    "z": -0.03913811966776848
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.087350845336914,
                "transform": {
                    "location": {
                        "x": 948.4966430664062,
                        "y": 3454.466064453125,
                        "z": 370.56072998046875
                    },
                    "rotation": {
                        "roll": -9.155539737548679e-05,
                        "pitch": 0.32988446950912476,
                        "yaw": 99.16840362548828
                    }
                },
                "velocity": {
                    "x": -1.1277234554290771,
                    "y": 6.996976852416992,
                    "z": 0.03312109783291817
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.9189453125,
                        "y": 3471.10205078125,
                        "z": 370.6307678222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.9733276367188,
                        "y": 3317.046142578125,
                        "z": 369.1283264160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.05980682373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.291633605957031,
                "transform": {
                    "location": {
                        "x": 966.09130859375,
                        "y": 3365.619873046875,
                        "z": 369.8321533203125
                    },
                    "rotation": {
                        "roll": -0.0016784656327217817,
                        "pitch": 0.6466413140296936,
                        "yaw": 99.01277923583984
                    }
                },
                "velocity": {
                    "x": -1.3165644407272339,
                    "y": 8.18585205078125,
                    "z": 0.09835870563983917
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.863734245300293,
                "transform": {
                    "location": {
                        "x": 963.1010131835938,
                        "y": 3384.1630859375,
                        "z": 370.0494384765625
                    },
                    "rotation": {
                        "roll": 0.0006127221276983619,
                        "pitch": 0.5931950807571411,
                        "yaw": 99.13587188720703
                    }
                },
                "velocity": {
                    "x": -1.4086490869522095,
                    "y": 8.75055980682373,
                    "z": 0.09589014202356339
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.185311317443848,
                "transform": {
                    "location": {
                        "x": 960.1350708007812,
                        "y": 3402.6728515625,
                        "z": 370.2196350097656
                    },
                    "rotation": {
                        "roll": -9.154425788437948e-05,
                        "pitch": 0.516553521156311,
                        "yaw": 98.99342346191406
                    }
                },
                "velocity": {
                    "x": -1.2988542318344116,
                    "y": 8.081310272216797,
                    "z": 0.0687667652964592
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626431941986084,
                "transform": {
                    "location": {
                        "x": 953.4189453125,
                        "y": 3418.875,
                        "z": 370.3320617675781
                    },
                    "rotation": {
                        "roll": -0.0009765314753167331,
                        "pitch": 0.6061314344406128,
                        "yaw": 99.14100646972656
                    }
                },
                "velocity": {
                    "x": -0.5024831891059875,
                    "y": 3.1223971843719482,
                    "z": 0.021428145468235016
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1637961864471436,
                "transform": {
                    "location": {
                        "x": 955.0439453125,
                        "y": 3408.779052734375,
                        "z": 370.25592041015625
                    },
                    "rotation": {
                        "roll": 0.0010242834687232971,
                        "pitch": 0.1142212450504303,
                        "yaw": 99.14110565185547
                    }
                },
                "velocity": {
                    "x": -0.5027302503585815,
                    "y": 3.1235225200653076,
                    "z": 0.021817568689584732
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0006051063537598,
        "expert_target_speed": 0,
        "target_point": [
            43.60614462159779,
            1.813341854807394
        ],
        "target_point_next": [
            94.59141291949818,
            3.046633220520489
        ]
    },
    "240": {
        "acceleration": [
            0.1660245656967163,
            -0.3699159622192383,
            0.005711019039154053
        ],
        "angular_velocity": [
            0.2214410901069641,
            0.08964205533266068,
            -2.1709158420562744
        ],
        "forward_vector": [
            -0.12716461718082428,
            0.9918580651283264,
            0.006832069251686335
        ],
        "right_vector": [
            -0.9918816089630127,
            -0.12716403603553772,
            -0.0005205093766562641
        ],
        "location": [
            958.0142211914062,
            3400.95751953125,
            370.204833984375
        ],
        "rotation": [
            0.02982368879020214,
            0.39145177602767944,
            97.30594635009766
        ],
        "velocity": [
            -0.4518588185310364,
            3.8756237030029297,
            0.03337870538234711
        ],
        "speed": 3.901875892332098,
        "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": 9.14312744140625,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                954.9181518554688,
                3409.560302734375,
                370.2617492675781
            ],
            "velocity": [
                -0.5029194951057434,
                3.1244051456451416,
                0.02223685197532177
            ],
            "speed_kmh": 11.39292222975257,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.529983520507812,
                "transform": {
                    "location": {
                        "x": 966.1862182617188,
                        "y": 3407.166259765625,
                        "z": 370.2410583496094
                    },
                    "rotation": {
                        "roll": -0.0003967344528064132,
                        "pitch": -0.40444278717041016,
                        "yaw": -80.8555908203125
                    }
                },
                "velocity": {
                    "x": 1.35629403591156,
                    "y": -8.42122745513916,
                    "z": -0.06339081376791
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.063857078552246,
                "transform": {
                    "location": {
                        "x": 963.4793701171875,
                        "y": 3403.528076171875,
                        "z": 370.2181701660156
                    },
                    "rotation": {
                        "roll": 0.0004007281386293471,
                        "pitch": -0.49292105436325073,
                        "yaw": -80.85157775878906
                    }
                },
                "velocity": {
                    "x": 1.282085657119751,
                    "y": -7.96102237701416,
                    "z": -0.06455351412296295
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.027844429016113,
                "transform": {
                    "location": {
                        "x": 973.1730346679688,
                        "y": 3363.749267578125,
                        "z": 369.7867126464844
                    },
                    "rotation": {
                        "roll": -0.0004577634099405259,
                        "pitch": -0.6984824538230896,
                        "yaw": -80.85289001464844
                    }
                },
                "velocity": {
                    "x": 1.2762508392333984,
                    "y": -7.925149917602539,
                    "z": -0.09727993607521057
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.02895736694336,
                "transform": {
                    "location": {
                        "x": 970.0438232421875,
                        "y": 3362.665283203125,
                        "z": 369.7896728515625
                    },
                    "rotation": {
                        "roll": 0.0009767101146280766,
                        "pitch": -0.7015082240104675,
                        "yaw": -80.98522186279297
                    }
                },
                "velocity": {
                    "x": 1.275385856628418,
                    "y": -7.926405429840088,
                    "z": -0.09815727174282074
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.9030046463012695,
                "transform": {
                    "location": {
                        "x": 971.315185546875,
                        "y": 3333.64111328125,
                        "z": 369.3990478515625
                    },
                    "rotation": {
                        "roll": 0.011604511179029942,
                        "pitch": 0.9176836609840393,
                        "yaw": 99.56822967529297
                    }
                },
                "velocity": {
                    "x": -1.1699583530426025,
                    "y": 6.8022966384887695,
                    "z": 0.10690299421548843
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.734278678894043,
                "transform": {
                    "location": {
                        "x": 968.5662841796875,
                        "y": 3350.204833984375,
                        "z": 369.6365966796875
                    },
                    "rotation": {
                        "roll": -3.052447937079705e-05,
                        "pitch": 0.6683339476585388,
                        "yaw": 99.16108703613281
                    }
                },
                "velocity": {
                    "x": -1.2287551164627075,
                    "y": 7.635367393493652,
                    "z": 0.10192971676588058
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.07051944732666,
                "transform": {
                    "location": {
                        "x": 956.3689575195312,
                        "y": 3447.600830078125,
                        "z": 370.5121154785156
                    },
                    "rotation": {
                        "roll": 0.01903112418949604,
                        "pitch": -0.10858634114265442,
                        "yaw": -80.64766693115234
                    }
                },
                "velocity": {
                    "x": 1.3056812286376953,
                    "y": -7.964095115661621,
                    "z": -0.04090389236807823
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.396432876586914,
                "transform": {
                    "location": {
                        "x": 959.2303466796875,
                        "y": 3450.253662109375,
                        "z": 370.5613708496094
                    },
                    "rotation": {
                        "roll": 0.0013830936513841152,
                        "pitch": -0.18371841311454773,
                        "yaw": -80.61473846435547
                    }
                },
                "velocity": {
                    "x": 1.368805170059204,
                    "y": -8.284000396728516,
                    "z": -0.0424034520983696
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.819865703582764,
                "transform": {
                    "location": {
                        "x": 948.2666015625,
                        "y": 3455.89013671875,
                        "z": 370.56640625
                    },
                    "rotation": {
                        "roll": 4.247649485478178e-05,
                        "pitch": 0.44106626510620117,
                        "yaw": 99.14521789550781
                    }
                },
                "velocity": {
                    "x": -0.768717885017395,
                    "y": 4.758139610290527,
                    "z": 0.016904830932617188
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.72021484375,
                        "y": 3472.33740234375,
                        "z": 370.63592529296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.7085571289062,
                        "y": 3318.7705078125,
                        "z": 369.1567077636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.05980682373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.837645530700684,
                "transform": {
                    "location": {
                        "x": 965.7545776367188,
                        "y": 3367.720947265625,
                        "z": 369.8572998046875
                    },
                    "rotation": {
                        "roll": -0.0004883446963503957,
                        "pitch": 0.7291158437728882,
                        "yaw": 98.99948120117188
                    }
                },
                "velocity": {
                    "x": -1.397502064704895,
                    "y": 8.725871086120605,
                    "z": 0.10073033720254898
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.683141708374023,
                "transform": {
                    "location": {
                        "x": 962.7568359375,
                        "y": 3386.302734375,
                        "z": 370.07147216796875
                    },
                    "rotation": {
                        "roll": 0.0008848223951645195,
                        "pitch": 0.5850056409835815,
                        "yaw": 99.16168212890625
                    }
                },
                "velocity": {
                    "x": -1.379744052886963,
                    "y": 8.57237434387207,
                    "z": 0.08748075366020203
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.962748050689697,
                "transform": {
                    "location": {
                        "x": 959.8145141601562,
                        "y": 3404.66455078125,
                        "z": 370.2359313964844
                    },
                    "rotation": {
                        "roll": -0.0021057084668427706,
                        "pitch": 0.4422205686569214,
                        "yaw": 98.98307800292969
                    }
                },
                "velocity": {
                    "x": -1.2659993171691895,
                    "y": 7.861201763153076,
                    "z": 0.06408553570508957
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1628148555755615,
                "transform": {
                    "location": {
                        "x": 953.2933959960938,
                        "y": 3419.6552734375,
                        "z": 370.33746337890625
                    },
                    "rotation": {
                        "roll": 0.0016481688944622874,
                        "pitch": 0.6064251661300659,
                        "yaw": 99.13978576660156
                    }
                },
                "velocity": {
                    "x": -0.5024155378341675,
                    "y": 3.12257719039917,
                    "z": 0.02208886109292507
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.164700508117676,
                "transform": {
                    "location": {
                        "x": 954.9181518554688,
                        "y": 3409.560302734375,
                        "z": 370.2617492675781
                    },
                    "rotation": {
                        "roll": 0.00043773328070528805,
                        "pitch": 0.11463788896799088,
                        "yaw": 99.14239501953125
                    }
                },
                "velocity": {
                    "x": -0.5029194951057434,
                    "y": 3.1244051456451416,
                    "z": 0.02223685197532177
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0001888275146484,
        "expert_target_speed": 0,
        "target_point": [
            42.59786822371461,
            2.1623290830318993
        ],
        "target_point_next": [
            93.57185370783283,
            3.796769313366129
        ]
    },
    "245": {
        "acceleration": [
            -0.03159165382385254,
            0.8737564086914062,
            0.006580948829650879
        ],
        "angular_velocity": [
            0.4199623167514801,
            0.08754608035087585,
            -1.2980725765228271
        ],
        "forward_vector": [
            -0.11974699795246124,
            0.9927691221237183,
            0.008369823917746544
        ],
        "right_vector": [
            -0.9928042888641357,
            -0.11974787712097168,
            -0.00039788984577171504
        ],
        "location": [
            957.9024047851562,
            3401.93408203125,
            370.21295166015625
        ],
        "rotation": [
            0.0227982085198164,
            0.4795612096786499,
            96.87774658203125
        ],
        "velocity": [
            -0.43723875284194946,
            3.978628158569336,
            0.03328680992126465
        ],
        "speed": 4.002581635788033,
        "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": 8.964384078979492,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                954.79248046875,
                3410.341552734375,
                370.267578125
            ],
            "velocity": [
                -0.5028366446495056,
                3.1246325969696045,
                0.02217784896492958
            ],
            "speed_kmh": 11.393681747725271,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.166596412658691,
                "transform": {
                    "location": {
                        "x": 966.5166015625,
                        "y": 3405.1142578125,
                        "z": 370.22503662109375
                    },
                    "rotation": {
                        "roll": -0.000976563896983862,
                        "pitch": -0.4759821891784668,
                        "yaw": -80.85992431640625
                    }
                },
                "velocity": {
                    "x": 1.2976740598678589,
                    "y": -8.062555313110352,
                    "z": -0.06739100068807602
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07763671875,
                "transform": {
                    "location": {
                        "x": 963.800048828125,
                        "y": 3401.5361328125,
                        "z": 370.2008361816406
                    },
                    "rotation": {
                        "roll": 0.0012763055274263024,
                        "pitch": -0.4940480589866638,
                        "yaw": -80.85155487060547
                    }
                },
                "velocity": {
                    "x": 1.2842562198638916,
                    "y": -7.974597454071045,
                    "z": -0.06857132166624069
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.079784393310547,
                "transform": {
                    "location": {
                        "x": 973.4930419921875,
                        "y": 3361.76123046875,
                        "z": 369.76226806640625
                    },
                    "rotation": {
                        "roll": 0.00037005808553658426,
                        "pitch": -0.6958664655685425,
                        "yaw": -80.8587875366211
                    }
                },
                "velocity": {
                    "x": 1.2833764553070068,
                    "y": -7.976598262786865,
                    "z": -0.09866319596767426
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.093852043151855,
                "transform": {
                    "location": {
                        "x": 970.3642578125,
                        "y": 3360.675537109375,
                        "z": 369.7652587890625
                    },
                    "rotation": {
                        "roll": 0.0007907596882432699,
                        "pitch": -0.6976901292800903,
                        "yaw": -80.95792388916016
                    }
                },
                "velocity": {
                    "x": 1.2855794429779053,
                    "y": -7.990484237670898,
                    "z": -0.0993976891040802
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.9253764152526855,
                "transform": {
                    "location": {
                        "x": 971.0227661132812,
                        "y": 3335.3447265625,
                        "z": 369.4259948730469
                    },
                    "rotation": {
                        "roll": 0.010485867969691753,
                        "pitch": 0.8886963725090027,
                        "yaw": 99.70988464355469
                    }
                },
                "velocity": {
                    "x": -1.1776738166809082,
                    "y": 6.82365608215332,
                    "z": 0.10787419974803925
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.254059791564941,
                "transform": {
                    "location": {
                        "x": 968.251953125,
                        "y": 3352.158447265625,
                        "z": 369.6628723144531
                    },
                    "rotation": {
                        "roll": -0.0013122716918587685,
                        "pitch": 0.8014407157897949,
                        "yaw": 99.13530731201172
                    }
                },
                "velocity": {
                    "x": -1.3120880126953125,
                    "y": 8.148383140563965,
                    "z": 0.10858724266290665
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.868965148925781,
                "transform": {
                    "location": {
                        "x": 956.687255859375,
                        "y": 3445.6572265625,
                        "z": 370.50250244140625
                    },
                    "rotation": {
                        "roll": 0.011488850228488445,
                        "pitch": -0.32000118494033813,
                        "yaw": -80.70887756347656
                    }
                },
                "velocity": {
                    "x": 1.2690778970718384,
                    "y": -7.765836238861084,
                    "z": -0.042968276888132095
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.833302021026611,
                "transform": {
                    "location": {
                        "x": 959.5575561523438,
                        "y": 3448.25830078125,
                        "z": 370.5521545410156
                    },
                    "rotation": {
                        "roll": 0.002001769607886672,
                        "pitch": -0.3167090117931366,
                        "yaw": -80.67607116699219
                    }
                },
                "velocity": {
                    "x": 1.262715458869934,
                    "y": -7.730754852294922,
                    "z": -0.03997295722365379
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0287201404571533,
                "transform": {
                    "location": {
                        "x": 948.1158447265625,
                        "y": 3456.705810546875,
                        "z": 370.570068359375
                    },
                    "rotation": {
                        "roll": -0.010345467366278172,
                        "pitch": 0.4209035634994507,
                        "yaw": 97.80024719238281
                    }
                },
                "velocity": {
                    "x": -0.4765160381793976,
                    "y": 2.9909703731536865,
                    "z": 0.013228416442871094
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.5310668945312,
                        "y": 3473.513916015625,
                        "z": 370.6409606933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.4464111328125,
                        "y": 3320.47802734375,
                        "z": 369.1849060058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.05980682373047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.317240715026855,
                "transform": {
                    "location": {
                        "x": 965.4098510742188,
                        "y": 3369.86669921875,
                        "z": 369.8822326660156
                    },
                    "rotation": {
                        "roll": -0.003051722189411521,
                        "pitch": 0.6142252087593079,
                        "yaw": 99.01786804199219
                    }
                },
                "velocity": {
                    "x": -1.322980523109436,
                    "y": 8.210783004760742,
                    "z": 0.09622987359762192
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.08765983581543,
                "transform": {
                    "location": {
                        "x": 962.42333984375,
                        "y": 3388.372802734375,
                        "z": 370.09210205078125
                    },
                    "rotation": {
                        "roll": -0.00039673311403021216,
                        "pitch": 0.6015347242355347,
                        "yaw": 99.130615234375
                    }
                },
                "velocity": {
                    "x": -1.2834534645080566,
                    "y": 7.984785556793213,
                    "z": 0.07868532091379166
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.084602355957031,
                "transform": {
                    "location": {
                        "x": 959.4967041015625,
                        "y": 3406.64111328125,
                        "z": 370.25146484375
                    },
                    "rotation": {
                        "roll": -0.0012511996319517493,
                        "pitch": 0.4249538481235504,
                        "yaw": 98.98562622070312
                    }
                },
                "velocity": {
                    "x": -1.2824468612670898,
                    "y": 7.982008457183838,
                    "z": 0.060517072677612305
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162593364715576,
                "transform": {
                    "location": {
                        "x": 953.1677856445312,
                        "y": 3420.435546875,
                        "z": 370.3428039550781
                    },
                    "rotation": {
                        "roll": 0.00359917595051229,
                        "pitch": 0.604232668876648,
                        "yaw": 99.1402587890625
                    }
                },
                "velocity": {
                    "x": -0.5025243163108826,
                    "y": 3.1223385334014893,
                    "z": 0.02161910943686962
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1649115085601807,
                "transform": {
                    "location": {
                        "x": 954.79248046875,
                        "y": 3410.341552734375,
                        "z": 370.267578125
                    },
                    "rotation": {
                        "roll": 0.00032473477767780423,
                        "pitch": 0.1143578514456749,
                        "yaw": 99.1424560546875
                    }
                },
                "velocity": {
                    "x": -0.5028366446495056,
                    "y": 3.1246325969696045,
                    "z": 0.02217784896492958
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0004976987838745,
        "expert_target_speed": 0,
        "target_point": [
            41.59759343585314,
            2.48655213725769
        ],
        "target_point_next": [
            92.5579405840007,
            4.501895666762907
        ]
    },
    "250": {
        "acceleration": [
            -0.20667731761932373,
            2.4627304077148438,
            0.013778284192085266
        ],
        "angular_velocity": [
            0.5414828062057495,
            0.030628593638539314,
            -1.10075843334198
        ],
        "forward_vector": [
            -0.11442399024963379,
            0.9933753609657288,
            0.010605969466269016
        ],
        "right_vector": [
            -0.9934313297271729,
            -0.11442972719669342,
            -6.671668234048411e-05
        ],
        "location": [
            957.7863159179688,
            3402.97998046875,
            370.22125244140625
        ],
        "rotation": [
            0.003822799539193511,
            0.6076887249946594,
            96.5707778930664
        ],
        "velocity": [
            -0.4833020567893982,
            4.432337760925293,
            0.0369892492890358
        ],
        "speed": 4.4586095259644685,
        "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": 8.720090866088867,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                954.666748046875,
                3411.122802734375,
                370.27337646484375
            ],
            "velocity": [
                -0.5029330849647522,
                3.1247994899749756,
                0.022125177085399628
            ],
            "speed_kmh": 11.394328752012369,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.382184028625488,
                "transform": {
                    "location": {
                        "x": 966.8334350585938,
                        "y": 3403.1455078125,
                        "z": 370.208740234375
                    },
                    "rotation": {
                        "roll": -0.0008850524318404496,
                        "pitch": -0.5173936486244202,
                        "yaw": -80.8617935180664
                    }
                },
                "velocity": {
                    "x": 1.17269766330719,
                    "y": -7.288169860839844,
                    "z": -0.06322899460792542
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0563325881958,
                "transform": {
                    "location": {
                        "x": 964.1205444335938,
                        "y": 3399.545654296875,
                        "z": 370.18353271484375
                    },
                    "rotation": {
                        "roll": 0.0011854014592245221,
                        "pitch": -0.4913910925388336,
                        "yaw": -80.85480499267578
                    }
                },
                "velocity": {
                    "x": 1.2803677320480347,
                    "y": -7.953641891479492,
                    "z": -0.06877648830413818
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.028141021728516,
                "transform": {
                    "location": {
                        "x": 973.8128662109375,
                        "y": 3359.77392578125,
                        "z": 369.73785400390625
                    },
                    "rotation": {
                        "roll": 0.0003305948921479285,
                        "pitch": -0.6966792345046997,
                        "yaw": -80.85853576660156
                    }
                },
                "velocity": {
                    "x": 1.2739955186843872,
                    "y": -7.925786018371582,
                    "z": -0.0994856134057045
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.028753280639648,
                "transform": {
                    "location": {
                        "x": 970.6841430664062,
                        "y": 3358.686279296875,
                        "z": 369.74072265625
                    },
                    "rotation": {
                        "roll": 0.00042307638796046376,
                        "pitch": -0.6999850869178772,
                        "yaw": -80.98817443847656
                    }
                },
                "velocity": {
                    "x": 1.2743791341781616,
                    "y": -7.926357269287109,
                    "z": -0.09849267452955246
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.513729095458984,
                "transform": {
                    "location": {
                        "x": 970.7369384765625,
                        "y": 3337.0224609375,
                        "z": 369.4520263671875
                    },
                    "rotation": {
                        "roll": -0.0006103902123868465,
                        "pitch": 0.9010726809501648,
                        "yaw": 99.65409088134766
                    }
                },
                "velocity": {
                    "x": -1.0734707117080688,
                    "y": 6.4239397048950195,
                    "z": 0.0965796634554863
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.143925666809082,
                "transform": {
                    "location": {
                        "x": 967.9194946289062,
                        "y": 3354.2216796875,
                        "z": 369.6904296875
                    },
                    "rotation": {
                        "roll": -0.0025329405907541513,
                        "pitch": 0.7572152018547058,
                        "yaw": 99.17054748535156
                    }
                },
                "velocity": {
                    "x": -1.2962896823883057,
                    "y": 8.039369583129883,
                    "z": 0.10817456990480423
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.168947219848633,
                "transform": {
                    "location": {
                        "x": 957.0112915039062,
                        "y": 3443.66845703125,
                        "z": 370.4911193847656
                    },
                    "rotation": {
                        "roll": 0.01134289987385273,
                        "pitch": -0.26055803894996643,
                        "yaw": -80.75260925292969
                    }
                },
                "velocity": {
                    "x": 1.3083237409591675,
                    "y": -8.063369750976562,
                    "z": -0.04543231800198555
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.053565979003906,
                "transform": {
                    "location": {
                        "x": 959.875,
                        "y": 3446.315185546875,
                        "z": 370.54150390625
                    },
                    "rotation": {
                        "roll": 0.0011064917780458927,
                        "pitch": -0.2940669357776642,
                        "yaw": -80.74653625488281
                    }
                },
                "velocity": {
                    "x": 1.2945458889007568,
                    "y": -7.94871187210083,
                    "z": -0.045416731387376785
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8977415561676025,
                "transform": {
                    "location": {
                        "x": 947.9852905273438,
                        "y": 3457.550537109375,
                        "z": 370.5756530761719
                    },
                    "rotation": {
                        "roll": -0.00277709006331861,
                        "pitch": 0.20532913506031036,
                        "yaw": 98.21781158447266
                    }
                },
                "velocity": {
                    "x": -0.6115650534629822,
                    "y": 3.849425792694092,
                    "z": 0.017238320782780647
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.3395385742188,
                        "y": 3474.70263671875,
                        "z": 370.6459655761719
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.0991821289062,
                        "y": 3322.657470703125,
                        "z": 369.2203674316406
                    },
                    "rotation": {
                        "roll": 5.336769959285448e-08,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.337143898010254,
                "transform": {
                    "location": {
                        "x": 965.0850830078125,
                        "y": 3371.8876953125,
                        "z": 369.9059143066406
                    },
                    "rotation": {
                        "roll": -0.00039676440064795315,
                        "pitch": 0.6618384718894958,
                        "yaw": 98.97628784179688
                    }
                },
                "velocity": {
                    "x": -1.3189778327941895,
                    "y": 8.231582641601562,
                    "z": 0.09651382267475128
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.339417457580566,
                "transform": {
                    "location": {
                        "x": 962.1365966796875,
                        "y": 3390.130615234375,
                        "z": 370.1085205078125
                    },
                    "rotation": {
                        "roll": -0.007293676026165485,
                        "pitch": 0.7069109082221985,
                        "yaw": 98.65640258789062
                    }
                },
                "velocity": {
                    "x": -1.0029977560043335,
                    "y": 6.259264945983887,
                    "z": 0.06172008439898491
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.029150009155273,
                "transform": {
                    "location": {
                        "x": 959.1764526367188,
                        "y": 3408.6337890625,
                        "z": 370.2662048339844
                    },
                    "rotation": {
                        "roll": -0.00079344428377226,
                        "pitch": 0.4249265491962433,
                        "yaw": 98.97452545166016
                    }
                },
                "velocity": {
                    "x": -1.2747442722320557,
                    "y": 7.92708683013916,
                    "z": 0.05973908305168152
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1625263690948486,
                "transform": {
                    "location": {
                        "x": 953.0421752929688,
                        "y": 3421.2158203125,
                        "z": 370.3481140136719
                    },
                    "rotation": {
                        "roll": 0.005266582127660513,
                        "pitch": 0.6042941212654114,
                        "yaw": 99.13996887207031
                    }
                },
                "velocity": {
                    "x": -0.5023990273475647,
                    "y": 3.1222941875457764,
                    "z": 0.021133193746209145
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650912761688232,
                "transform": {
                    "location": {
                        "x": 954.666748046875,
                        "y": 3411.122802734375,
                        "z": 370.27337646484375
                    },
                    "rotation": {
                        "roll": 0.0009710760787129402,
                        "pitch": 0.11472667753696442,
                        "yaw": 99.14307403564453
                    }
                },
                "velocity": {
                    "x": -0.5029330849647522,
                    "y": 3.1247994899749756,
                    "z": 0.022125177085399628
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0012109279632568,
        "expert_target_speed": 0,
        "target_point": [
            40.531364438253554,
            2.7137018831240454
        ],
        "target_point_next": [
            91.48018471218418,
            5.001999000271427
        ]
    },
    "255": {
        "acceleration": [
            -0.2830040454864502,
            3.6856746673583984,
            -0.013593509793281555
        ],
        "angular_velocity": [
            0.47383835911750793,
            -0.005059452261775732,
            -1.8262643814086914
        ],
        "forward_vector": [
            -0.1093478798866272,
            0.9939217567443848,
            0.01275171060115099
        ],
        "right_vector": [
            -0.9940028190612793,
            -0.10935455560684204,
            -0.00017470073362346739
        ],
        "location": [
            957.6566772460938,
            3404.185791015625,
            370.2306823730469
        ],
        "rotation": [
            0.010010428726673126,
            0.7306389808654785,
            96.27823638916016
        ],
        "velocity": [
            -0.5457212924957275,
            5.229459762573242,
            0.04210295528173447
        ],
        "speed": 5.257857086062325,
        "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": 8.323513984680176,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                954.5410766601562,
                3411.904052734375,
                370.2792053222656
            ],
            "velocity": [
                -0.5030558109283447,
                3.124812602996826,
                0.02283800020813942
            ],
            "speed_kmh": 11.394463797390848,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.835141658782959,
                "transform": {
                    "location": {
                        "x": 967.1095581054688,
                        "y": 3401.433349609375,
                        "z": 370.19378662109375
                    },
                    "rotation": {
                        "roll": -0.0007324607577174902,
                        "pitch": -0.5166559815406799,
                        "yaw": -80.95291900634766
                    }
                },
                "velocity": {
                    "x": 1.0843502283096313,
                    "y": -6.748312950134277,
                    "z": -0.06016629934310913
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087213516235352,
                "transform": {
                    "location": {
                        "x": 964.4412841796875,
                        "y": 3397.552734375,
                        "z": 370.1662292480469
                    },
                    "rotation": {
                        "roll": 0.0005132434889674187,
                        "pitch": -0.4904826879501343,
                        "yaw": -80.85652923583984
                    }
                },
                "velocity": {
                    "x": 1.2842273712158203,
                    "y": -7.9842963218688965,
                    "z": -0.06919365376234055
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.08084774017334,
                "transform": {
                    "location": {
                        "x": 974.1326904296875,
                        "y": 3357.785888671875,
                        "z": 369.7131652832031
                    },
                    "rotation": {
                        "roll": -0.00036621661274693906,
                        "pitch": -0.7055584788322449,
                        "yaw": -80.86054992675781
                    }
                },
                "velocity": {
                    "x": 1.2831858396530151,
                    "y": -7.977635383605957,
                    "z": -0.1042700707912445
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.094799995422363,
                "transform": {
                    "location": {
                        "x": 971.0043334960938,
                        "y": 3356.696533203125,
                        "z": 369.7156677246094
                    },
                    "rotation": {
                        "roll": 1.8944636394735426e-05,
                        "pitch": -0.7293685674667358,
                        "yaw": -80.96317291259766
                    }
                },
                "velocity": {
                    "x": 1.2874075174331665,
                    "y": -7.991113662719727,
                    "z": -0.10228099673986435
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.478383541107178,
                "transform": {
                    "location": {
                        "x": 970.4732666015625,
                        "y": 3338.59814453125,
                        "z": 369.47564697265625
                    },
                    "rotation": {
                        "roll": 0.0028996840119361877,
                        "pitch": 0.8541629314422607,
                        "yaw": 99.53395080566406
                    }
                },
                "velocity": {
                    "x": -1.0637949705123901,
                    "y": 6.389744281768799,
                    "z": 0.09465896338224411
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.963335037231445,
                "transform": {
                    "location": {
                        "x": 967.6039428710938,
                        "y": 3356.18115234375,
                        "z": 369.7160339355469
                    },
                    "rotation": {
                        "roll": 3.4633834729902446e-05,
                        "pitch": 0.7081130146980286,
                        "yaw": 99.1339340209961
                    }
                },
                "velocity": {
                    "x": -1.2664473056793213,
                    "y": 7.861346244812012,
                    "z": 0.10024081915616989
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.969358921051025,
                "transform": {
                    "location": {
                        "x": 957.3343505859375,
                        "y": 3441.67626953125,
                        "z": 370.4797668457031
                    },
                    "rotation": {
                        "roll": 0.008065872825682163,
                        "pitch": -0.35314807295799255,
                        "yaw": -80.79434967041016
                    }
                },
                "velocity": {
                    "x": 1.2731269598007202,
                    "y": -7.866879940032959,
                    "z": -0.04506527632474899
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.112740516662598,
                "transform": {
                    "location": {
                        "x": 960.2020263671875,
                        "y": 3444.3037109375,
                        "z": 370.53033447265625
                    },
                    "rotation": {
                        "roll": 0.002469179220497608,
                        "pitch": -0.3233616352081299,
                        "yaw": -80.75514221191406
                    }
                },
                "velocity": {
                    "x": 1.2981191873550415,
                    "y": -8.008084297180176,
                    "z": -0.04502269625663757
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.990321159362793,
                "transform": {
                    "location": {
                        "x": 947.8126220703125,
                        "y": 3458.6552734375,
                        "z": 370.58111572265625
                    },
                    "rotation": {
                        "roll": 0.0002168325736420229,
                        "pitch": 0.15029147267341614,
                        "yaw": 98.56627655029297
                    }
                },
                "velocity": {
                    "x": -0.7844524383544922,
                    "y": 4.928230285644531,
                    "z": 0.022067250683903694
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.1287231445312,
                        "y": 3476.0126953125,
                        "z": 370.65142822265625
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.835205078125,
                        "y": 3324.302978515625,
                        "z": 369.24713134765625
                    },
                    "rotation": {
                        "roll": 5.336769959285448e-08,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.415492057800293,
                "transform": {
                    "location": {
                        "x": 964.7451171875,
                        "y": 3374.005126953125,
                        "z": 369.9306945800781
                    },
                    "rotation": {
                        "roll": -0.002716063754633069,
                        "pitch": 0.6655950546264648,
                        "yaw": 99.01145935058594
                    }
                },
                "velocity": {
                    "x": -1.3375121355056763,
                    "y": 8.30794906616211,
                    "z": 0.09768157452344894
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.316858291625977,
                "transform": {
                    "location": {
                        "x": 961.8912353515625,
                        "y": 3391.671142578125,
                        "z": 370.1247253417969
                    },
                    "rotation": {
                        "roll": -0.003753652796149254,
                        "pitch": 0.5874850153923035,
                        "yaw": 98.85905456542969
                    }
                },
                "velocity": {
                    "x": -0.9999364018440247,
                    "y": 6.236918926239014,
                    "z": 0.06054742634296417
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.061637878417969,
                "transform": {
                    "location": {
                        "x": 958.85693359375,
                        "y": 3410.617431640625,
                        "z": 370.2809143066406
                    },
                    "rotation": {
                        "roll": -0.0007629474857822061,
                        "pitch": 0.4226315915584564,
                        "yaw": 99.00746154785156
                    }
                },
                "velocity": {
                    "x": -1.2808887958526611,
                    "y": 7.959000587463379,
                    "z": 0.06023189425468445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162546157836914,
                "transform": {
                    "location": {
                        "x": 952.9166259765625,
                        "y": 3421.99609375,
                        "z": 370.35345458984375
                    },
                    "rotation": {
                        "roll": 9.421385766472667e-05,
                        "pitch": 0.6061655879020691,
                        "yaw": 99.1390380859375
                    }
                },
                "velocity": {
                    "x": -0.502134382724762,
                    "y": 3.1223583221435547,
                    "z": 0.020922459661960602
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651289463043213,
                "transform": {
                    "location": {
                        "x": 954.5410766601562,
                        "y": 3411.904052734375,
                        "z": 370.2792053222656
                    },
                    "rotation": {
                        "roll": 0.005949003621935844,
                        "pitch": 0.11668011546134949,
                        "yaw": 99.14274597167969
                    }
                },
                "velocity": {
                    "x": -0.5030558109283447,
                    "y": 3.124812602996826,
                    "z": 0.02283800020813942
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.6778564453125,
                        "y": 3482.442138671875,
                        "z": 370.9455871582031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9986069798469543,
        "expert_target_speed": 0,
        "target_point": [
            39.304223032953715,
            2.923639230631755
        ],
        "target_point_next": [
            90.24069402009225,
            5.47207294136952
        ]
    },
    "260": {
        "acceleration": [
            0.09038805961608887,
            -0.5183124542236328,
            0.00433996319770813
        ],
        "angular_velocity": [
            -0.7385697960853577,
            -0.022811980918049812,
            -0.9143730401992798
        ],
        "forward_vector": [
            -0.10437377542257309,
            0.9944922924041748,
            0.00955257099121809
        ],
        "right_vector": [
            -0.9945377111434937,
            -0.10437805205583572,
            -5.094287553220056e-05
        ],
        "location": [
            957.5234375,
            3405.47607421875,
            370.2414855957031
        ],
        "rotation": [
            0.002918944926932454,
            0.5473303198814392,
            95.99136352539062
        ],
        "velocity": [
            -0.5197247266769409,
            5.143723011016846,
            0.041012294590473175
        ],
        "speed": 5.169912978531034,
        "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": 7.850827693939209,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                954.415283203125,
                3412.685302734375,
                370.2850646972656
            ],
            "velocity": [
                -0.5029014945030212,
                3.1248202323913574,
                0.02187087945640087
            ],
            "speed_kmh": 11.394378041105146,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.464847087860107,
                "transform": {
                    "location": {
                        "x": 967.3907470703125,
                        "y": 3399.681396484375,
                        "z": 370.1781311035156
                    },
                    "rotation": {
                        "roll": -0.0005188187351450324,
                        "pitch": -0.4756748378276825,
                        "yaw": -80.93144226074219
                    }
                },
                "velocity": {
                    "x": 1.1836448907852173,
                    "y": -7.370140075683594,
                    "z": -0.06292461603879929
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052001953125,
                "transform": {
                    "location": {
                        "x": 964.76171875,
                        "y": 3395.561767578125,
                        "z": 370.1484375
                    },
                    "rotation": {
                        "roll": 0.0001738834980642423,
                        "pitch": -0.5201666951179504,
                        "yaw": -80.85907745361328
                    }
                },
                "velocity": {
                    "x": 1.279144048690796,
                    "y": -7.949389457702637,
                    "z": -0.07569374889135361
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.027767181396484,
                "transform": {
                    "location": {
                        "x": 974.4525756835938,
                        "y": 3355.79833984375,
                        "z": 369.68743896484375
                    },
                    "rotation": {
                        "roll": -0.0004272712685633451,
                        "pitch": -0.7603434324264526,
                        "yaw": -80.85664367675781
                    }
                },
                "velocity": {
                    "x": 1.2758156061172485,
                    "y": -7.925069332122803,
                    "z": -0.10306086391210556
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.029478073120117,
                "transform": {
                    "location": {
                        "x": 971.3246459960938,
                        "y": 3354.70751953125,
                        "z": 369.6898498535156
                    },
                    "rotation": {
                        "roll": 0.001919722417369485,
                        "pitch": -0.768341600894928,
                        "yaw": -80.9789047241211
                    }
                },
                "velocity": {
                    "x": 1.2748140096664429,
                    "y": -7.926912784576416,
                    "z": -0.10686688870191574
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.224371433258057,
                "transform": {
                    "location": {
                        "x": 970.1931762695312,
                        "y": 3340.278076171875,
                        "z": 369.50128173828125
                    },
                    "rotation": {
                        "roll": 0.004864414222538471,
                        "pitch": 0.7462937235832214,
                        "yaw": 99.48653411865234
                    }
                },
                "velocity": {
                    "x": -1.1852282285690308,
                    "y": 7.125731468200684,
                    "z": 0.10354329645633698
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.630881309509277,
                "transform": {
                    "location": {
                        "x": 967.2719116210938,
                        "y": 3358.243408203125,
                        "z": 369.7423400878906
                    },
                    "rotation": {
                        "roll": -0.0005798984202556312,
                        "pitch": 0.7725558280944824,
                        "yaw": 99.16616821289062
                    }
                },
                "velocity": {
                    "x": -1.3716964721679688,
                    "y": 8.520533561706543,
                    "z": 0.10519969463348389
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027247428894043,
                "transform": {
                    "location": {
                        "x": 957.6529541015625,
                        "y": 3439.708984375,
                        "z": 370.4681091308594
                    },
                    "rotation": {
                        "roll": 0.005315088201314211,
                        "pitch": -0.34158456325531006,
                        "yaw": -80.80261993408203
                    }
                },
                "velocity": {
                    "x": 1.2810031175613403,
                    "y": -7.924247741699219,
                    "z": -0.04512133449316025
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.938554763793945,
                "transform": {
                    "location": {
                        "x": 960.5216674804688,
                        "y": 3442.3310546875,
                        "z": 370.5190124511719
                    },
                    "rotation": {
                        "roll": 0.0013018952449783683,
                        "pitch": -0.3468643128871918,
                        "yaw": -80.8193588256836
                    }
                },
                "velocity": {
                    "x": 1.2655205726623535,
                    "y": -7.8369011878967285,
                    "z": -0.045663461089134216
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.481531143188477,
                "transform": {
                    "location": {
                        "x": 947.6074829101562,
                        "y": 3459.952392578125,
                        "z": 370.5868225097656
                    },
                    "rotation": {
                        "roll": 0.0009136702283285558,
                        "pitch": 0.2025560736656189,
                        "yaw": 98.8200454711914
                    }
                },
                "velocity": {
                    "x": -0.8660552501678467,
                    "y": 5.412622451782227,
                    "z": 0.025455407798290253
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.8995971679688,
                        "y": 3477.4365234375,
                        "z": 370.6573791503906
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.4387817382812,
                        "y": 3326.7705078125,
                        "z": 369.2872619628906
                    },
                    "rotation": {
                        "roll": 5.336769959285448e-08,
                        "pitch": 0.9182232618331909,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.177899360656738,
                "transform": {
                    "location": {
                        "x": 964.4375,
                        "y": 3375.914306640625,
                        "z": 369.95245361328125
                    },
                    "rotation": {
                        "roll": -0.0021667208056896925,
                        "pitch": 0.5034600496292114,
                        "yaw": 98.9449462890625
                    }
                },
                "velocity": {
                    "x": -1.1401015520095825,
                    "y": 7.086317539215088,
                    "z": 0.08066314458847046
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.6669793128967285,
                "transform": {
                    "location": {
                        "x": 961.6320190429688,
                        "y": 3393.294921875,
                        "z": 370.14117431640625
                    },
                    "rotation": {
                        "roll": -0.00036620450555346906,
                        "pitch": 0.5303027033805847,
                        "yaw": 99.0464096069336
                    }
                },
                "velocity": {
                    "x": -1.0598804950714111,
                    "y": 6.581875324249268,
                    "z": 0.06467681378126144
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.024639129638672,
                "transform": {
                    "location": {
                        "x": 958.5377807617188,
                        "y": 3412.60302734375,
                        "z": 370.2957763671875
                    },
                    "rotation": {
                        "roll": -0.0006103851483203471,
                        "pitch": 0.42774057388305664,
                        "yaw": 98.9722671508789
                    }
                },
                "velocity": {
                    "x": -1.2731224298477173,
                    "y": 7.9227776527404785,
                    "z": 0.0599709115922451
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626367568969727,
                "transform": {
                    "location": {
                        "x": 952.791015625,
                        "y": 3422.7763671875,
                        "z": 370.3587951660156
                    },
                    "rotation": {
                        "roll": 0.00030139897717162967,
                        "pitch": 0.6067051887512207,
                        "yaw": 99.13977813720703
                    }
                },
                "velocity": {
                    "x": -0.5024166107177734,
                    "y": 3.1224050521850586,
                    "z": 0.020851535722613335
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165105104446411,
                "transform": {
                    "location": {
                        "x": 954.415283203125,
                        "y": 3412.685302734375,
                        "z": 370.2850646972656
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": 0.1139138862490654,
                        "yaw": 99.1423568725586
                    }
                },
                "velocity": {
                    "x": -0.5029014945030212,
                    "y": 3.1248202323913574,
                    "z": 0.02187087945640087
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.8624877929688,
                        "y": 3483.107666015625,
                        "z": 370.8514709472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.0072631835938,
                        "y": 3480.394287109375,
                        "z": 370.7408142089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0005725622177124,
        "expert_target_speed": 0,
        "target_point": [
            37.991948336142336,
            3.1225738608638123
        ],
        "target_point_next": [
            88.91502013191354,
            5.9260270679568325
        ]
    },
    "265": {
        "acceleration": [
            -0.4287898540496826,
            5.542097091674805,
            0.03239460289478302
        ],
        "angular_velocity": [
            0.6517196893692017,
            0.02284991554915905,
            -1.1134361028671265
        ],
        "forward_vector": [
            -0.09990968555212021,
            0.9948645830154419,
            0.01620066538453102
        ],
        "right_vector": [
            -0.9949954748153687,
            -0.09991973638534546,
            -0.00018989665841218084
        ],
        "location": [
            957.3690185546875,
            3407.02783203125,
            370.2515869140625
        ],
        "rotation": [
            0.010881705209612846,
            0.9282704591751099,
            95.73472595214844
        ],
        "velocity": [
            -0.6770197153091431,
            6.96267557144165,
            0.05079907178878784
        ],
        "speed": 6.9955133341355005,
        "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": 7.136883735656738,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                954.2896118164062,
                3413.466064453125,
                370.2906494140625
            ],
            "velocity": [
                -0.5030210614204407,
                3.1245079040527344,
                0.02254374511539936
            ],
            "speed_kmh": 11.393353375678755,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.492467880249023,
                "transform": {
                    "location": {
                        "x": 967.7015380859375,
                        "y": 3397.743408203125,
                        "z": 370.1612548828125
                    },
                    "rotation": {
                        "roll": -0.0005493144271895289,
                        "pitch": -0.46191200613975525,
                        "yaw": -80.88691711425781
                    }
                },
                "velocity": {
                    "x": 1.3473095893859863,
                    "y": -8.384604454040527,
                    "z": -0.07194651663303375
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087455749511719,
                "transform": {
                    "location": {
                        "x": 965.08203125,
                        "y": 3393.5703125,
                        "z": 370.1296691894531
                    },
                    "rotation": {
                        "roll": 0.0003533728595357388,
                        "pitch": -0.5667690634727478,
                        "yaw": -80.86461639404297
                    }
                },
                "velocity": {
                    "x": 1.2838594913482666,
                    "y": -7.984513282775879,
                    "z": -0.07871036976575851
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.080774307250977,
                "transform": {
                    "location": {
                        "x": 974.7725830078125,
                        "y": 3353.810546875,
                        "z": 369.6607971191406
                    },
                    "rotation": {
                        "roll": 0.0007649422041140497,
                        "pitch": -0.7627272009849548,
                        "yaw": -80.85550689697266
                    }
                },
                "velocity": {
                    "x": 1.2841798067092896,
                    "y": -7.977358818054199,
                    "z": -0.10742682963609695
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.094300270080566,
                "transform": {
                    "location": {
                        "x": 971.6447143554688,
                        "y": 3352.717529296875,
                        "z": 369.6629943847656
                    },
                    "rotation": {
                        "roll": 0.00027440578560344875,
                        "pitch": -0.7629662156105042,
                        "yaw": -80.97111511230469
                    }
                },
                "velocity": {
                    "x": 1.2856504917144775,
                    "y": -7.990821838378906,
                    "z": -0.10755026340484619
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.637313842773438,
                "transform": {
                    "location": {
                        "x": 969.8789672851562,
                        "y": 3342.17578125,
                        "z": 369.529296875
                    },
                    "rotation": {
                        "roll": -0.0011291437549516559,
                        "pitch": 0.688387393951416,
                        "yaw": 99.38038635253906
                    }
                },
                "velocity": {
                    "x": -1.3958114385604858,
                    "y": 8.522889137268066,
                    "z": 0.12353084236383438
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.654719829559326,
                "transform": {
                    "location": {
                        "x": 966.9462890625,
                        "y": 3360.266845703125,
                        "z": 369.7668762207031
                    },
                    "rotation": {
                        "roll": -6.104820204200223e-05,
                        "pitch": 0.6037272214889526,
                        "yaw": 99.1270751953125
                    }
                },
                "velocity": {
                    "x": -1.2162820100784302,
                    "y": 7.556905746459961,
                    "z": 0.09256193041801453
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.059808731079102,
                "transform": {
                    "location": {
                        "x": 957.9747924804688,
                        "y": 3437.718017578125,
                        "z": 370.45635986328125
                    },
                    "rotation": {
                        "roll": 0.0027239536866545677,
                        "pitch": -0.3188195526599884,
                        "yaw": -80.81890106201172
                    }
                },
                "velocity": {
                    "x": 1.2857853174209595,
                    "y": -7.956455707550049,
                    "z": -0.04560087248682976
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.078283309936523,
                "transform": {
                    "location": {
                        "x": 960.84130859375,
                        "y": 3440.35498046875,
                        "z": 370.5071716308594
                    },
                    "rotation": {
                        "roll": 0.0019106160616502166,
                        "pitch": -0.3253423869609833,
                        "yaw": -80.79645538330078
                    }
                },
                "velocity": {
                    "x": 1.2904231548309326,
                    "y": -7.974420547485352,
                    "z": -0.045725297182798386
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.724723815917969,
                "transform": {
                    "location": {
                        "x": 947.382568359375,
                        "y": 3461.365966796875,
                        "z": 370.59307861328125
                    },
                    "rotation": {
                        "roll": 0.0008349433192051947,
                        "pitch": 0.21849773824214935,
                        "yaw": 99.01728820800781
                    }
                },
                "velocity": {
                    "x": -0.9076563119888306,
                    "y": 5.652255058288574,
                    "z": 0.025258397683501244
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.6560668945312,
                        "y": 3478.9501953125,
                        "z": 370.6637268066406
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.1739501953125,
                        "y": 3328.41552734375,
                        "z": 369.3138122558594
                    },
                    "rotation": {
                        "roll": 2.6683723675091642e-08,
                        "pitch": 0.9008882641792297,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.550970554351807,
                "transform": {
                    "location": {
                        "x": 964.1506958007812,
                        "y": 3377.705322265625,
                        "z": 369.97296142578125
                    },
                    "rotation": {
                        "roll": -0.0006409026682376862,
                        "pitch": 0.630959153175354,
                        "yaw": 98.90957641601562
                    }
                },
                "velocity": {
                    "x": -1.1914482116699219,
                    "y": 7.455923080444336,
                    "z": 0.08255363255739212
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.694269180297852,
                "transform": {
                    "location": {
                        "x": 961.3165283203125,
                        "y": 3395.256591796875,
                        "z": 370.16064453125
                    },
                    "rotation": {
                        "roll": -0.0011596748372539878,
                        "pitch": 0.3648345470428467,
                        "yaw": 99.06270599365234
                    }
                },
                "velocity": {
                    "x": -1.3802748918533325,
                    "y": 8.583662986755371,
                    "z": 0.07679729163646698
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.07552719116211,
                "transform": {
                    "location": {
                        "x": 958.2178955078125,
                        "y": 3414.59033203125,
                        "z": 370.31005859375
                    },
                    "rotation": {
                        "roll": -0.002899192739278078,
                        "pitch": 0.40106868743896484,
                        "yaw": 99.00395965576172
                    }
                },
                "velocity": {
                    "x": -1.285517692565918,
                    "y": 7.972345352172852,
                    "z": 0.0574275366961956
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626362800598145,
                "transform": {
                    "location": {
                        "x": 952.6654663085938,
                        "y": 3423.556884765625,
                        "z": 370.3641357421875
                    },
                    "rotation": {
                        "roll": -0.0005493807257153094,
                        "pitch": 0.6066232323646545,
                        "yaw": 99.13897705078125
                    }
                },
                "velocity": {
                    "x": -0.5022059679031372,
                    "y": 3.1224365234375,
                    "z": 0.02117171324789524
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1648201942443848,
                "transform": {
                    "location": {
                        "x": 954.2896118164062,
                        "y": 3413.466064453125,
                        "z": 370.2906494140625
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 0.09614856541156769,
                        "yaw": 99.14287567138672
                    }
                },
                "velocity": {
                    "x": -0.5030210614204407,
                    "y": 3.1245079040527344,
                    "z": 0.02254374511539936
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.1929321289062,
                        "y": 3481.053955078125,
                        "z": 370.7211608886719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.3380126953125,
                        "y": 3478.3388671875,
                        "z": 370.6838073730469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9990745186805725,
        "expert_target_speed": 0,
        "target_point": [
            36.418159976635444,
            3.2941148756579652
        ],
        "target_point_next": [
            87.32816456110947,
            6.325620147047742
        ]
    },
    "270": {
        "acceleration": [
            0.1137387752532959,
            -0.43048858642578125,
            0.007126405835151672
        ],
        "angular_velocity": [
            -1.4165610074996948,
            -0.09744188189506531,
            -0.8188908696174622
        ],
        "forward_vector": [
            -0.0958627313375473,
            0.9952569007873535,
            0.01655479148030281
        ],
        "right_vector": [
            -0.9953935146331787,
            -0.09587350487709045,
            -0.0001433174911653623
        ],
        "location": [
            957.1854248046875,
            3408.935302734375,
            370.2655029296875
        ],
        "rotation": [
            0.008212612941861153,
            0.9485629796981812,
            95.5017318725586
        ],
        "velocity": [
            -0.7521917819976807,
            7.956910610198975,
            0.05846352502703667
        ],
        "speed": 7.992385059267469,
        "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": 6.111313343048096,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                954.1638793945312,
                3414.247314453125,
                370.2961730957031
            ],
            "velocity": [
                -0.5028924345970154,
                3.12447452545166,
                0.021870965138077736
            ],
            "speed_kmh": 11.393144157480506,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.5238037109375,
                        "y": 3478.998291015625,
                        "z": 370.6627197265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.717123508453369,
                "transform": {
                    "location": {
                        "x": 951.6521606445312,
                        "y": 3476.3994140625,
                        "z": 370.6593933105469
                    },
                    "rotation": {
                        "roll": -0.02368166111409664,
                        "pitch": -0.5321946740150452,
                        "yaw": -80.77867889404297
                    }
                },
                "velocity": {
                    "x": 1.1032313108444214,
                    "y": -6.625278949737549,
                    "z": -0.09112709760665894
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.479422569274902,
                "transform": {
                    "location": {
                        "x": 968.0441284179688,
                        "y": 3395.608642578125,
                        "z": 370.14202880859375
                    },
                    "rotation": {
                        "roll": -0.000793455692473799,
                        "pitch": -0.5242853164672852,
                        "yaw": -80.81104278564453
                    }
                },
                "velocity": {
                    "x": 1.348162055015564,
                    "y": -8.37118148803711,
                    "z": -0.07988711446523666
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053247451782227,
                "transform": {
                    "location": {
                        "x": 965.40234375,
                        "y": 3391.578369140625,
                        "z": 370.1098327636719
                    },
                    "rotation": {
                        "roll": -3.052387182833627e-05,
                        "pitch": -0.5615507960319519,
                        "yaw": -80.8659896850586
                    }
                },
                "velocity": {
                    "x": 1.2783658504486084,
                    "y": -7.950735092163086,
                    "z": -0.07990742474794388
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.028447151184082,
                "transform": {
                    "location": {
                        "x": 975.0924682617188,
                        "y": 3351.822998046875,
                        "z": 369.63409423828125
                    },
                    "rotation": {
                        "roll": 0.0009898776188492775,
                        "pitch": -0.7605278491973877,
                        "yaw": -80.85527038574219
                    }
                },
                "velocity": {
                    "x": 1.2757837772369385,
                    "y": -7.92571496963501,
                    "z": -0.10668466985225677
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.029949188232422,
                "transform": {
                    "location": {
                        "x": 971.9651489257812,
                        "y": 3350.72802734375,
                        "z": 369.6363220214844
                    },
                    "rotation": {
                        "roll": 0.0012360004475340247,
                        "pitch": -0.7634511590003967,
                        "yaw": -80.97257995605469
                    }
                },
                "velocity": {
                    "x": 1.2754400968551636,
                    "y": -7.9272942543029785,
                    "z": -0.10649631917476654
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.545443534851074,
                "transform": {
                    "location": {
                        "x": 969.521240234375,
                        "y": 3344.360595703125,
                        "z": 369.5601806640625
                    },
                    "rotation": {
                        "roll": 0.0006376958917826414,
                        "pitch": 0.7886614203453064,
                        "yaw": 99.30491638183594
                    }
                },
                "velocity": {
                    "x": -1.3773541450500488,
                    "y": 8.432826042175293,
                    "z": 0.12229886651039124
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.983092308044434,
                "transform": {
                    "location": {
                        "x": 966.6607666015625,
                        "y": 3362.040771484375,
                        "z": 369.7885437011719
                    },
                    "rotation": {
                        "roll": 0.00023704163322690874,
                        "pitch": 0.5942469239234924,
                        "yaw": 99.1624526977539
                    }
                },
                "velocity": {
                    "x": -1.1091585159301758,
                    "y": 6.893925666809082,
                    "z": 0.08446374535560608
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.008157730102539,
                "transform": {
                    "location": {
                        "x": 958.2946166992188,
                        "y": 3435.73779296875,
                        "z": 370.4446105957031
                    },
                    "rotation": {
                        "roll": 0.0022434417624026537,
                        "pitch": -0.3628537654876709,
                        "yaw": -80.82745361328125
                    }
                },
                "velocity": {
                    "x": 1.2765698432922363,
                    "y": -7.9056010246276855,
                    "z": -0.04926162585616112
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031826972961426,
                "transform": {
                    "location": {
                        "x": 961.1632080078125,
                        "y": 3438.363037109375,
                        "z": 370.4955749511719
                    },
                    "rotation": {
                        "roll": 0.0014624189352616668,
                        "pitch": -0.3339211046695709,
                        "yaw": -80.84069061279297
                    }
                },
                "velocity": {
                    "x": 1.2782213687896729,
                    "y": -7.929332733154297,
                    "z": -0.045624859631061554
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.7429585456848145,
                "transform": {
                    "location": {
                        "x": 947.1044311523438,
                        "y": 3463.101806640625,
                        "z": 370.6016845703125
                    },
                    "rotation": {
                        "roll": 0.0006821161368861794,
                        "pitch": 0.10004177689552307,
                        "yaw": 99.08419799804688
                    }
                },
                "velocity": {
                    "x": -1.228180170059204,
                    "y": 7.644859313964844,
                    "z": 0.03319535031914711
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.3496704101562,
                        "y": 3480.853759765625,
                        "z": 370.6714782714844
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.7771606445312,
                        "y": 3330.88330078125,
                        "z": 369.3536376953125
                    },
                    "rotation": {
                        "roll": 2.6683723675091642e-08,
                        "pitch": 0.9008882641792297,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.601362228393555,
                "transform": {
                    "location": {
                        "x": 963.83154296875,
                        "y": 3379.6982421875,
                        "z": 369.99517822265625
                    },
                    "rotation": {
                        "roll": -0.004760718904435635,
                        "pitch": 0.764660120010376,
                        "yaw": 99.0068359375
                    }
                },
                "velocity": {
                    "x": -1.363165259361267,
                    "y": 8.492141723632812,
                    "z": 0.09350156784057617
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.131489753723145,
                "transform": {
                    "location": {
                        "x": 960.9560546875,
                        "y": 3397.50146484375,
                        "z": 370.1801452636719
                    },
                    "rotation": {
                        "roll": 0.0004660923732444644,
                        "pitch": 0.41218823194503784,
                        "yaw": 99.14183044433594
                    }
                },
                "velocity": {
                    "x": -1.4518429040908813,
                    "y": 9.014992713928223,
                    "z": 0.07849407196044922
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.013004302978516,
                "transform": {
                    "location": {
                        "x": 957.8985595703125,
                        "y": 3416.57470703125,
                        "z": 370.3239440917969
                    },
                    "rotation": {
                        "roll": 0.0005711743142455816,
                        "pitch": 0.3884328305721283,
                        "yaw": 98.97420501708984
                    }
                },
                "velocity": {
                    "x": -1.2711007595062256,
                    "y": 7.911362648010254,
                    "z": 0.05373334884643555
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1627612113952637,
                "transform": {
                    "location": {
                        "x": 952.539794921875,
                        "y": 3424.3369140625,
                        "z": 370.3694763183594
                    },
                    "rotation": {
                        "roll": -0.0005798781639896333,
                        "pitch": 0.6060426235198975,
                        "yaw": 99.13975524902344
                    }
                },
                "velocity": {
                    "x": -0.5025253295898438,
                    "y": 3.1225106716156006,
                    "z": 0.02130943164229393
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.164762496948242,
                "transform": {
                    "location": {
                        "x": 954.1638793945312,
                        "y": 3414.247314453125,
                        "z": 370.2961730957031
                    },
                    "rotation": {
                        "roll": -0.00021362368715927005,
                        "pitch": 0.0777617022395134,
                        "yaw": 99.14237976074219
                    }
                },
                "velocity": {
                    "x": -0.5028924345970154,
                    "y": 3.12447452545166,
                    "z": 0.021870965138077736
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9986554384231567,
        "expert_target_speed": 0,
        "target_point": [
            34.488180193116996,
            3.4422878700020667
        ],
        "target_point_next": [
            85.3854386835868,
            6.68075496971597
        ]
    },
    "275": {
        "acceleration": [
            -0.1715528964996338,
            1.6405868530273438,
            0.020282715559005737
        ],
        "angular_velocity": [
            -0.8877605199813843,
            -0.011720628477633,
            -0.1762423813343048
        ],
        "forward_vector": [
            -0.09367498755455017,
            0.9954707026481628,
            0.016219021752476692
        ],
        "right_vector": [
            -0.9956014752388,
            -0.09368952363729477,
            0.00013686716556549072
        ],
        "location": [
            956.982421875,
            3411.092041015625,
            370.2814636230469
        ],
        "rotation": [
            -0.007842942140996456,
            0.9293223023414612,
            95.37577056884766
        ],
        "velocity": [
            -0.8512426614761353,
            9.075387001037598,
            0.06599437445402145
        ],
        "speed": 9.11522151608611,
        "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": 4.915791988372803,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                954.0382080078125,
                3415.028564453125,
                370.3014831542969
            ],
            "velocity": [
                -0.502787172794342,
                3.1246256828308105,
                0.021212168037891388
            ],
            "speed_kmh": 11.393605048134184,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.70717191696167,
                "transform": {
                    "location": {
                        "x": 954.8150024414062,
                        "y": 3477.20556640625,
                        "z": 370.64703369140625
                    },
                    "rotation": {
                        "roll": -0.005950927734375,
                        "pitch": -0.28231900930404663,
                        "yaw": -80.74742889404297
                    }
                },
                "velocity": {
                    "x": 1.1084272861480713,
                    "y": -6.614650249481201,
                    "z": -0.06282392144203186
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.925105094909668,
                "transform": {
                    "location": {
                        "x": 951.9403686523438,
                        "y": 3474.7158203125,
                        "z": 370.6440124511719
                    },
                    "rotation": {
                        "roll": -0.033996593207120895,
                        "pitch": -0.327487051486969,
                        "yaw": -80.3230972290039
                    }
                },
                "velocity": {
                    "x": 1.1864153146743774,
                    "y": -6.822588920593262,
                    "z": -0.04219759255647659
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.066744804382324,
                "transform": {
                    "location": {
                        "x": 968.37060546875,
                        "y": 3393.57373046875,
                        "z": 370.1228332519531
                    },
                    "rotation": {
                        "roll": -0.0022582930978387594,
                        "pitch": -0.5792751312255859,
                        "yaw": -80.63457489013672
                    }
                },
                "velocity": {
                    "x": 1.286035180091858,
                    "y": -7.96317195892334,
                    "z": -0.07988310605287552
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085978507995605,
                "transform": {
                    "location": {
                        "x": 965.72265625,
                        "y": 3389.58642578125,
                        "z": 370.0899963378906
                    },
                    "rotation": {
                        "roll": 0.00024427095195278525,
                        "pitch": -0.5600823163986206,
                        "yaw": -80.86602020263672
                    }
                },
                "velocity": {
                    "x": 1.2835301160812378,
                    "y": -7.983054161071777,
                    "z": -0.08030077069997787
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.081002235412598,
                "transform": {
                    "location": {
                        "x": 975.4124145507812,
                        "y": 3349.8349609375,
                        "z": 369.6074523925781
                    },
                    "rotation": {
                        "roll": 0.0014184560859575868,
                        "pitch": -0.7599814534187317,
                        "yaw": -80.8596420288086
                    }
                },
                "velocity": {
                    "x": 1.2835848331451416,
                    "y": -7.977671146392822,
                    "z": -0.1085117757320404
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.094403266906738,
                "transform": {
                    "location": {
                        "x": 972.28515625,
                        "y": 3348.738037109375,
                        "z": 369.6095275878906
                    },
                    "rotation": {
                        "roll": 7.495198224205524e-05,
                        "pitch": -0.7644893527030945,
                        "yaw": -80.97377014160156
                    }
                },
                "velocity": {
                    "x": 1.284789800643921,
                    "y": -7.991042137145996,
                    "z": -0.10919249057769775
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.7056708335876465,
                "transform": {
                    "location": {
                        "x": 969.197998046875,
                        "y": 3346.33935546875,
                        "z": 369.587890625
                    },
                    "rotation": {
                        "roll": -0.0010070394491776824,
                        "pitch": 0.8851104974746704,
                        "yaw": 99.27437591552734
                    }
                },
                "velocity": {
                    "x": -1.2344900369644165,
                    "y": 7.605409145355225,
                    "z": 0.1056191623210907
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.673519611358643,
                "transform": {
                    "location": {
                        "x": 966.3719482421875,
                        "y": 3363.8349609375,
                        "z": 369.81072998046875
                    },
                    "rotation": {
                        "roll": -0.0004272174555808306,
                        "pitch": 0.7558013796806335,
                        "yaw": 99.13797760009766
                    }
                },
                "velocity": {
                    "x": -1.2203929424285889,
                    "y": 7.575289249420166,
                    "z": 0.09238675981760025
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03536319732666,
                "transform": {
                    "location": {
                        "x": 958.6138916015625,
                        "y": 3433.7587890625,
                        "z": 370.4320983886719
                    },
                    "rotation": {
                        "roll": 0.0038626331370323896,
                        "pitch": -0.3714871406555176,
                        "yaw": -80.83846282958984
                    }
                },
                "velocity": {
                    "x": 1.2778575420379639,
                    "y": -7.932942867279053,
                    "z": -0.05046705901622772
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007723808288574,
                "transform": {
                    "location": {
                        "x": 961.4815673828125,
                        "y": 3436.387451171875,
                        "z": 370.4837341308594
                    },
                    "rotation": {
                        "roll": -0.001159672741778195,
                        "pitch": -0.34795713424682617,
                        "yaw": -80.8287124633789
                    }
                },
                "velocity": {
                    "x": 1.2743263244628906,
                    "y": -7.905526161193848,
                    "z": -0.048805251717567444
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.272385597229004,
                "transform": {
                    "location": {
                        "x": 946.7818603515625,
                        "y": 3465.110595703125,
                        "z": 370.6098327636719
                    },
                    "rotation": {
                        "roll": -0.0011291468981653452,
                        "pitch": 0.16404063999652863,
                        "yaw": 99.09158325195312
                    }
                },
                "velocity": {
                    "x": -1.3102489709854126,
                    "y": 8.16789436340332,
                    "z": 0.03338252007961273
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.0210571289062,
                        "y": 3482.896240234375,
                        "z": 370.6798400878906
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.5122680664062,
                        "y": 3332.5283203125,
                        "z": 369.3795166015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8667168021202087,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.14335823059082,
                "transform": {
                    "location": {
                        "x": 963.4713134765625,
                        "y": 3381.934326171875,
                        "z": 370.0198669433594
                    },
                    "rotation": {
                        "roll": -0.0038146479055285454,
                        "pitch": 0.7275790572166443,
                        "yaw": 99.11143493652344
                    }
                },
                "velocity": {
                    "x": -1.456961750984192,
                    "y": 9.025982856750488,
                    "z": 0.09951023012399673
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.34237289428711,
                "transform": {
                    "location": {
                        "x": 960.6119995117188,
                        "y": 3399.63623046875,
                        "z": 370.1974792480469
                    },
                    "rotation": {
                        "roll": 2.2092388462624513e-05,
                        "pitch": 0.5443182587623596,
                        "yaw": 99.12893676757812
                    }
                },
                "velocity": {
                    "x": -1.3247677087783813,
                    "y": 8.2362060546875,
                    "z": 0.0713258907198906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.080790519714355,
                "transform": {
                    "location": {
                        "x": 957.5790405273438,
                        "y": 3418.5615234375,
                        "z": 370.33746337890625
                    },
                    "rotation": {
                        "roll": -0.001068109180778265,
                        "pitch": 0.3923123776912689,
                        "yaw": 98.9931640625
                    }
                },
                "velocity": {
                    "x": -1.2845057249069214,
                    "y": 7.9778733253479,
                    "z": 0.05257552117109299
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1624152660369873,
                "transform": {
                    "location": {
                        "x": 952.4142456054688,
                        "y": 3425.1171875,
                        "z": 370.3747253417969
                    },
                    "rotation": {
                        "roll": 0.00010499309428269044,
                        "pitch": 0.5927101373672485,
                        "yaw": 99.1383285522461
                    }
                },
                "velocity": {
                    "x": -0.5019232034683228,
                    "y": 3.1222548484802246,
                    "z": 0.021631602197885513
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1648902893066406,
                "transform": {
                    "location": {
                        "x": 954.0382080078125,
                        "y": 3415.028564453125,
                        "z": 370.3014831542969
                    },
                    "rotation": {
                        "roll": 8.109857299132273e-05,
                        "pitch": 0.0812724158167839,
                        "yaw": 99.1423110961914
                    }
                },
                "velocity": {
                    "x": -0.502787172794342,
                    "y": 3.1246256828308105,
                    "z": 0.021212168037891388
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.000273585319519,
        "expert_target_speed": 0,
        "target_point": [
            32.314257255870444,
            3.5180580782319146
        ],
        "target_point_next": [
            83.20427232161653,
            6.868424865580381
        ]
    },
    "280": {
        "acceleration": [
            -0.25563597679138184,
            -0.4277801513671875,
            -0.024747103452682495
        ],
        "angular_velocity": [
            -1.1563737392425537,
            0.14768002927303314,
            1.5697977542877197
        ],
        "forward_vector": [
            -0.09688437730073929,
            0.9952372908592224,
            0.010779052041471004
        ],
        "right_vector": [
            -0.9952932596206665,
            -0.09690244495868683,
            0.001165331224910915
        ],
        "location": [
            956.763671875,
            3413.361083984375,
            370.2991027832031
        ],
        "rotation": [
            -0.0667724534869194,
            0.6176061630249023,
            95.56011199951172
        ],
        "velocity": [
            -0.9040279388427734,
            9.044600486755371,
            0.06425872445106506
        ],
        "speed": 9.089668007095959,
        "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": 3.7584121227264404,
        "front_vehicle_info": {
            "id": 86156,
            "type": "vehicle.diamondback.century",
            "location": [
                953.9124755859375,
                3415.809814453125,
                370.3068542480469
            ],
            "velocity": [
                -0.5029705166816711,
                3.1245956420898438,
                0.021877221763134003
            ],
            "speed_kmh": 11.393619451493336,
            "color": "78,247,119"
        },
        "other_vehicles": [
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.921319007873535,
                "transform": {
                    "location": {
                        "x": 955.0986328125,
                        "y": 3475.524658203125,
                        "z": 370.6357421875
                    },
                    "rotation": {
                        "roll": -0.00634765112772584,
                        "pitch": -0.24438415467739105,
                        "yaw": -80.35037994384766
                    }
                },
                "velocity": {
                    "x": 1.182652473449707,
                    "y": -6.819452285766602,
                    "z": -0.03262565657496452
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.713739395141602,
                "transform": {
                    "location": {
                        "x": 952.228515625,
                        "y": 3473.0361328125,
                        "z": 370.6353759765625
                    },
                    "rotation": {
                        "roll": 0.0008251143153756857,
                        "pitch": -0.26437610387802124,
                        "yaw": -80.29535675048828
                    }
                },
                "velocity": {
                    "x": 1.1256835460662842,
                    "y": -6.618626117706299,
                    "z": -0.030379299074411392
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.144752025604248,
                "transform": {
                    "location": {
                        "x": 968.6841430664062,
                        "y": 3391.63623046875,
                        "z": 370.10357666015625
                    },
                    "rotation": {
                        "roll": -0.002227826276794076,
                        "pitch": -0.5887144804000854,
                        "yaw": -80.67704010009766
                    }
                },
                "velocity": {
                    "x": 1.1398385763168335,
                    "y": -7.052894115447998,
                    "z": -0.07022779434919357
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053446769714355,
                "transform": {
                    "location": {
                        "x": 966.04296875,
                        "y": 3387.5947265625,
                        "z": 370.0703125
                    },
                    "rotation": {
                        "roll": -0.0001831164991017431,
                        "pitch": -0.5599935054779053,
                        "yaw": -80.86338806152344
                    }
                },
                "velocity": {
                    "x": 1.278733253479004,
                    "y": -7.9508795738220215,
                    "z": -0.07970304787158966
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.030517578125,
                "transform": {
                    "location": {
                        "x": 975.732177734375,
                        "y": 3347.84716796875,
                        "z": 369.5801086425781
                    },
                    "rotation": {
                        "roll": -0.0004272742662578821,
                        "pitch": -0.7900069355964661,
                        "yaw": -80.86014556884766
                    }
                },
                "velocity": {
                    "x": 1.2752649784088135,
                    "y": -7.927809238433838,
                    "z": -0.1129743829369545
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0299711227417,
                "transform": {
                    "location": {
                        "x": 972.605224609375,
                        "y": 3346.7490234375,
                        "z": 369.5818176269531
                    },
                    "rotation": {
                        "roll": 0.001060974202118814,
                        "pitch": -0.8141721487045288,
                        "yaw": -80.97615814208984
                    }
                },
                "velocity": {
                    "x": 1.27731454372406,
                    "y": -7.926967620849609,
                    "z": -0.10994699597358704
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034377098083496,
                "transform": {
                    "location": {
                        "x": 968.8857421875,
                        "y": 3348.263427734375,
                        "z": 369.6152648925781
                    },
                    "rotation": {
                        "roll": -0.0001526515989098698,
                        "pitch": 0.7444291114807129,
                        "yaw": 99.22499084472656
                    }
                },
                "velocity": {
                    "x": -1.2850853204727173,
                    "y": 7.930193901062012,
                    "z": 0.10859489440917969
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.840636253356934,
                "transform": {
                    "location": {
                        "x": 966.0432739257812,
                        "y": 3365.876220703125,
                        "z": 369.83551025390625
                    },
                    "rotation": {
                        "roll": 0.0004646621528081596,
                        "pitch": 0.8341231346130371,
                        "yaw": 99.1597671508789
                    }
                },
                "velocity": {
                    "x": -1.4051079750061035,
                    "y": 8.727632522583008,
                    "z": 0.10467342287302017
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.041808128356934,
                "transform": {
                    "location": {
                        "x": 958.9338989257812,
                        "y": 3431.77294921875,
                        "z": 370.4191589355469
                    },
                    "rotation": {
                        "roll": 0.0013557011261582375,
                        "pitch": -0.37347471714019775,
                        "yaw": -80.84605407714844
                    }
                },
                "velocity": {
                    "x": 1.2792946100234985,
                    "y": -7.939229488372803,
                    "z": -0.052197977900505066
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.052749633789062,
                "transform": {
                    "location": {
                        "x": 961.8013916015625,
                        "y": 3434.404052734375,
                        "z": 370.4713134765625
                    },
                    "rotation": {
                        "roll": 0.0011408519931137562,
                        "pitch": -0.36886435747146606,
                        "yaw": -80.85933685302734
                    }
                },
                "velocity": {
                    "x": 1.2808091640472412,
                    "y": -7.950080394744873,
                    "z": -0.05035301670432091
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9459428787231445,
                "transform": {
                    "location": {
                        "x": 946.4608154296875,
                        "y": 3467.1103515625,
                        "z": 370.6174621582031
                    },
                    "rotation": {
                        "roll": -0.0009765531867742538,
                        "pitch": 0.25329071283340454,
                        "yaw": 99.14456939697266
                    }
                },
                "velocity": {
                    "x": -1.26188325881958,
                    "y": 7.845036029815674,
                    "z": 0.03267842158675194
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.6900634765625,
                        "y": 3484.952392578125,
                        "z": 370.6878356933594
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 971.1151123046875,
                        "y": 3334.99609375,
                        "z": 369.41796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8667168021202087,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.066681861877441,
                "transform": {
                    "location": {
                        "x": 963.1304321289062,
                        "y": 3384.044189453125,
                        "z": 370.04302978515625
                    },
                    "rotation": {
                        "roll": -0.0011596349067986012,
                        "pitch": 0.5333489775657654,
                        "yaw": 99.03333282470703
                    }
                },
                "velocity": {
                    "x": -1.2859952449798584,
                    "y": 7.963045597076416,
                    "z": 0.08642105013132095
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.589219093322754,
                "transform": {
                    "location": {
                        "x": 960.2755126953125,
                        "y": 3401.727783203125,
                        "z": 370.2161560058594
                    },
                    "rotation": {
                        "roll": 8.113797230180353e-05,
                        "pitch": 0.4760231673717499,
                        "yaw": 99.16593170166016
                    }
                },
                "velocity": {
                    "x": -1.366758108139038,
                    "y": 8.47946548461914,
                    "z": 0.07296238094568253
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.011795997619629,
                "transform": {
                    "location": {
                        "x": 957.2590942382812,
                        "y": 3420.547119140625,
                        "z": 370.35107421875
                    },
                    "rotation": {
                        "roll": -0.0008850235608406365,
                        "pitch": 0.3900584280490875,
                        "yaw": 98.99372863769531
                    }
                },
                "velocity": {
                    "x": -1.272300362586975,
                    "y": 7.909951210021973,
                    "z": 0.05287594720721245
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1625070571899414,
                "transform": {
                    "location": {
                        "x": 952.2887573242188,
                        "y": 3425.8974609375,
                        "z": 370.3798828125
                    },
                    "rotation": {
                        "roll": -0.0009460305445827544,
                        "pitch": 0.5854564905166626,
                        "yaw": 99.13804626464844
                    }
                },
                "velocity": {
                    "x": -0.501850426197052,
                    "y": 3.1223666667938232,
                    "z": 0.02059679850935936
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1648943424224854,
                "transform": {
                    "location": {
                        "x": 953.9124755859375,
                        "y": 3415.809814453125,
                        "z": 370.3068542480469
                    },
                    "rotation": {
                        "roll": 0.0007043906371109188,
                        "pitch": 0.08101969957351685,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": -0.5029705166816711,
                    "y": 3.1245956420898438,
                    "z": 0.021877221763134003
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9993970990180969,
        "expert_target_speed": 0,
        "target_point": [
            30.04584797258793,
            3.4161907984029805
        ],
        "target_point_next": [
            80.94638003880858,
            6.602791868081005
        ]
    },
    "285": {
        "acceleration": [
            0.3681325912475586,
            -6.539392471313477,
            -0.07092036306858063
        ],
        "angular_velocity": [
            -2.0089612007141113,
            -0.14763271808624268,
            2.078784704208374
        ],
        "forward_vector": [
            -0.10532412678003311,
            0.994437038898468,
            0.0013283486478030682
        ],
        "right_vector": [
            -0.9944359064102173,
            -0.10532654076814651,
            0.0018929714569821954
        ],
        "location": [
            956.5447998046875,
            3415.458984375,
            370.3158264160156
        ],
        "rotation": [
            -0.10845944285392761,
            0.07610879093408585,
            96.04584503173828
        ],
        "velocity": [
            -0.8321776390075684,
            7.56203031539917,
            0.05210128799080849
        ],
        "speed": 7.607681783163665,
        "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": 7.085648059844971,
        "front_vehicle_info": {
            "id": 86172,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                956.9397583007812,
                3422.533447265625,
                370.36468505859375
            ],
            "velocity": [
                -1.283347725868225,
                7.976897239685059,
                0.052801016718149185
            ],
            "speed_kmh": 29.086721015153483,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.699285507202148,
                "transform": {
                    "location": {
                        "x": 955.3854370117188,
                        "y": 3473.84716796875,
                        "z": 370.6285095214844
                    },
                    "rotation": {
                        "roll": -0.001739512081257999,
                        "pitch": -0.23913173377513885,
                        "yaw": -80.17647552490234
                    }
                },
                "velocity": {
                    "x": 1.1265790462493896,
                    "y": -6.603821277618408,
                    "z": -0.028155092149972916
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.630764484405518,
                "transform": {
                    "location": {
                        "x": 952.47607421875,
                        "y": 3471.5751953125,
                        "z": 370.6289367675781
                    },
                    "rotation": {
                        "roll": 0.001566604943946004,
                        "pitch": -0.394258975982666,
                        "yaw": -80.36931610107422
                    }
                },
                "velocity": {
                    "x": 0.9389955401420593,
                    "y": -5.55186128616333,
                    "z": -0.02520124800503254
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.719282627105713,
                "transform": {
                    "location": {
                        "x": 968.9548950195312,
                        "y": 3389.964599609375,
                        "z": 370.0869140625
                    },
                    "rotation": {
                        "roll": -0.0014037562068551779,
                        "pitch": -0.5816656947135925,
                        "yaw": -80.76641082763672
                    }
                },
                "velocity": {
                    "x": 1.0700421333312988,
                    "y": -6.633222579956055,
                    "z": -0.06428953260183334
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088035583496094,
                "transform": {
                    "location": {
                        "x": 966.3633422851562,
                        "y": 3385.602783203125,
                        "z": 370.0497131347656
                    },
                    "rotation": {
                        "roll": -0.0003051874227821827,
                        "pitch": -0.6000047922134399,
                        "yaw": -80.8614730834961
                    }
                },
                "velocity": {
                    "x": 1.284605860710144,
                    "y": -7.984913349151611,
                    "z": -0.08523403853178024
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.0392456054688,
                        "y": 3345.82861328125,
                        "z": 369.5534973144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8325795531272888,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.9083862304688,
                        "y": 3344.71484375,
                        "z": 369.5533142089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8325795531272888,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.797350883483887,
                "transform": {
                    "location": {
                        "x": 968.5473022460938,
                        "y": 3350.35205078125,
                        "z": 369.6439514160156
                    },
                    "rotation": {
                        "roll": -0.0002746678364928812,
                        "pitch": 0.6836950778961182,
                        "yaw": 99.20597076416016
                    }
                },
                "velocity": {
                    "x": -1.40730619430542,
                    "y": 8.683289527893066,
                    "z": 0.11561288684606552
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.597259521484375,
                "transform": {
                    "location": {
                        "x": 965.68896484375,
                        "y": 3368.078369140625,
                        "z": 369.8613586425781
                    },
                    "rotation": {
                        "roll": 0.00019803580653388053,
                        "pitch": 0.6737571358680725,
                        "yaw": 99.12635040283203
                    }
                },
                "velocity": {
                    "x": -1.3648492097854614,
                    "y": 8.48764705657959,
                    "z": 0.09947425872087479
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01392936706543,
                "transform": {
                    "location": {
                        "x": 959.252685546875,
                        "y": 3429.79296875,
                        "z": 370.4061584472656
                    },
                    "rotation": {
                        "roll": 0.003568171290680766,
                        "pitch": -0.37869298458099365,
                        "yaw": -80.85130310058594
                    }
                },
                "velocity": {
                    "x": 1.2731198072433472,
                    "y": -7.911984920501709,
                    "z": -0.05216009169816971
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.022465705871582,
                "transform": {
                    "location": {
                        "x": 962.1209106445312,
                        "y": 3432.419921875,
                        "z": 370.45843505859375
                    },
                    "rotation": {
                        "roll": 0.0014077690429985523,
                        "pitch": -0.3727439045906067,
                        "yaw": -80.83487701416016
                    }
                },
                "velocity": {
                    "x": 1.2760462760925293,
                    "y": -7.9201579093933105,
                    "z": -0.05253380537033081
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.010598182678223,
                "transform": {
                    "location": {
                        "x": 946.1451416015625,
                        "y": 3469.07177734375,
                        "z": 370.6258544921875
                    },
                    "rotation": {
                        "roll": 0.0009533129632472992,
                        "pitch": 0.23608547449111938,
                        "yaw": 99.11772155761719
                    }
                },
                "velocity": {
                    "x": -1.2722117900848389,
                    "y": 7.908858299255371,
                    "z": 0.03342251852154732
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.3591918945312,
                        "y": 3487.0087890625,
                        "z": 370.69573974609375
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.8502807617188,
                        "y": 3336.64111328125,
                        "z": 369.44342041015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.8667168021202087,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.2188138961792,
                "transform": {
                    "location": {
                        "x": 962.8107299804688,
                        "y": 3386.02734375,
                        "z": 370.0640563964844
                    },
                    "rotation": {
                        "roll": 0.0004856342857237905,
                        "pitch": 0.5677731037139893,
                        "yaw": 99.01335144042969
                    }
                },
                "velocity": {
                    "x": -1.3038570880889893,
                    "y": 8.114272117614746,
                    "z": 0.08631250262260437
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.286688804626465,
                "transform": {
                    "location": {
                        "x": 959.9544067382812,
                        "y": 3403.71923828125,
                        "z": 370.23248291015625
                    },
                    "rotation": {
                        "roll": -0.00012206900282762945,
                        "pitch": 0.5709422826766968,
                        "yaw": 99.11689758300781
                    }
                },
                "velocity": {
                    "x": -1.158455491065979,
                    "y": 7.193782806396484,
                    "z": 0.057469673454761505
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.079644203186035,
                "transform": {
                    "location": {
                        "x": 956.9397583007812,
                        "y": 3422.533447265625,
                        "z": 370.36468505859375
                    },
                    "rotation": {
                        "roll": -0.001129182055592537,
                        "pitch": 0.3926880359649658,
                        "yaw": 98.99141693115234
                    }
                },
                "velocity": {
                    "x": -1.283347725868225,
                    "y": 7.976897239685059,
                    "z": 0.052801016718149185
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162642002105713,
                "transform": {
                    "location": {
                        "x": 952.1630859375,
                        "y": 3426.677734375,
                        "z": 370.38494873046875
                    },
                    "rotation": {
                        "roll": -0.00045778011553920805,
                        "pitch": 0.5873962640762329,
                        "yaw": 99.13964080810547
                    }
                },
                "velocity": {
                    "x": -0.5027787089347839,
                    "y": 3.1223535537719727,
                    "z": 0.020622147247195244
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1648833751678467,
                "transform": {
                    "location": {
                        "x": 953.7866821289062,
                        "y": 3416.591064453125,
                        "z": 370.3121643066406
                    },
                    "rotation": {
                        "roll": 0.0005318981129676104,
                        "pitch": 0.08040498197078705,
                        "yaw": 99.14158630371094
                    }
                },
                "velocity": {
                    "x": -0.5027729868888855,
                    "y": 3.12461256980896,
                    "z": 0.02239867113530636
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9992761015892029,
        "expert_target_speed": 0,
        "target_point": [
            27.964443544376348,
            3.164671495843889
        ],
        "target_point_next": [
            78.8901598524675,
            5.919668684490041
        ]
    },
    "290": {
        "acceleration": [
            3.2733583450317383,
            -26.955690383911133,
            -0.18611811101436615
        ],
        "angular_velocity": [
            -5.572936534881592,
            -1.1387946605682373,
            4.021078586578369
        ],
        "forward_vector": [
            -0.11697251349687576,
            0.9931093454360962,
            -0.007157979533076286
        ],
        "right_vector": [
            -0.9931348562240601,
            -0.11696412414312363,
            0.0015802782727405429
        ],
        "location": [
            956.360595703125,
            3417.084228515625,
            370.32867431640625
        ],
        "rotation": [
            -0.0905456393957138,
            -0.4101255238056183,
            96.71758270263672
        ],
        "velocity": [
            -0.5622009634971619,
            4.769645690917969,
            0.03135311231017113
        ],
        "speed": 4.802664879028047,
        "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": 7.439505100250244,
        "front_vehicle_info": {
            "id": 86172,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                956.6200561523438,
                3424.51904296875,
                370.3782043457031
            ],
            "velocity": [
                -1.2746684551239014,
                7.911536693572998,
                0.052219923585653305
            ],
            "speed_kmh": 28.849439440009633,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.316110134124756,
                "transform": {
                    "location": {
                        "x": 955.6651611328125,
                        "y": 3472.206787109375,
                        "z": 370.6217041015625
                    },
                    "rotation": {
                        "roll": -0.0016479591140523553,
                        "pitch": -0.2514875531196594,
                        "yaw": -80.26355743408203
                    }
                },
                "velocity": {
                    "x": 1.055573582649231,
                    "y": -6.227227687835693,
                    "z": -0.02547740936279297
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.845188617706299,
                "transform": {
                    "location": {
                        "x": 952.7157592773438,
                        "y": 3470.15625,
                        "z": 370.6229553222656
                    },
                    "rotation": {
                        "roll": -0.0003051601815968752,
                        "pitch": -0.24554528295993805,
                        "yaw": -80.40360260009766
                    }
                },
                "velocity": {
                    "x": 0.9727135300636292,
                    "y": -5.76362943649292,
                    "z": -0.025170840322971344
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.453747749328613,
                "transform": {
                    "location": {
                        "x": 969.2357788085938,
                        "y": 3388.2265625,
                        "z": 370.06939697265625
                    },
                    "rotation": {
                        "roll": 0.00023549198522232473,
                        "pitch": -0.5423579812049866,
                        "yaw": -80.85716247558594
                    }
                },
                "velocity": {
                    "x": 1.183983564376831,
                    "y": -7.3587493896484375,
                    "z": -0.07312002778053284
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053276062011719,
                "transform": {
                    "location": {
                        "x": 966.6837158203125,
                        "y": 3383.611083984375,
                        "z": 370.02838134765625
                    },
                    "rotation": {
                        "roll": -0.0005798012716695666,
                        "pitch": -0.6354602575302124,
                        "yaw": -80.86036682128906
                    }
                },
                "velocity": {
                    "x": 1.2790824174880981,
                    "y": -7.950562000274658,
                    "z": -0.08816418796777725
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.3272705078125,
                        "y": 3343.764892578125,
                        "z": 369.5289001464844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8325795531272888,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.1998291015625,
                        "y": 3342.651123046875,
                        "z": 369.5244140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8325795531272888,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.251803398132324,
                "transform": {
                    "location": {
                        "x": 968.2020874023438,
                        "y": 3352.48681640625,
                        "z": 369.671630859375
                    },
                    "rotation": {
                        "roll": -0.0017700647003948689,
                        "pitch": 0.7827396392822266,
                        "yaw": 99.18270874023438
                    }
                },
                "velocity": {
                    "x": -1.3132222890853882,
                    "y": 8.145903587341309,
                    "z": 0.10932736843824387
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.771836280822754,
                "transform": {
                    "location": {
                        "x": 965.3681030273438,
                        "y": 3370.072998046875,
                        "z": 369.8845520019531
                    },
                    "rotation": {
                        "roll": -0.0003051857347600162,
                        "pitch": 0.5685380697250366,
                        "yaw": 99.1508560180664
                    }
                },
                "velocity": {
                    "x": -1.2343122959136963,
                    "y": 7.672668933868408,
                    "z": 0.08977881819009781
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.045730590820312,
                "transform": {
                    "location": {
                        "x": 959.57177734375,
                        "y": 3427.810546875,
                        "z": 370.3931579589844
                    },
                    "rotation": {
                        "roll": 0.002117682946845889,
                        "pitch": -0.3702099025249481,
                        "yaw": -80.86088562011719
                    }
                },
                "velocity": {
                    "x": 1.2778708934783936,
                    "y": -7.943431854248047,
                    "z": -0.05219181254506111
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028079986572266,
                "transform": {
                    "location": {
                        "x": 962.4400024414062,
                        "y": 3430.4404296875,
                        "z": 370.4454345703125
                    },
                    "rotation": {
                        "roll": 0.001928448211401701,
                        "pitch": -0.3706333637237549,
                        "yaw": -80.8639907836914
                    }
                },
                "velocity": {
                    "x": 1.274361491203308,
                    "y": -7.92611026763916,
                    "z": -0.053389761596918106
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.066758155822754,
                "transform": {
                    "location": {
                        "x": 945.8251953125,
                        "y": 3471.061279296875,
                        "z": 370.63427734375
                    },
                    "rotation": {
                        "roll": 0.0006225125980563462,
                        "pitch": 0.22899574041366577,
                        "yaw": 99.16012573242188
                    }
                },
                "velocity": {
                    "x": -1.2831121683120728,
                    "y": 7.963987827301025,
                    "z": 0.03322705253958702
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.0548095703125,
                        "y": 3488.89990234375,
                        "z": 370.7029724121094
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.4532470703125,
                        "y": 3339.108642578125,
                        "z": 369.4803161621094
                    },
                    "rotation": {
                        "roll": -2.6683242282388164e-08,
                        "pitch": 0.8325248956680298,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.17549991607666,
                "transform": {
                    "location": {
                        "x": 962.477783203125,
                        "y": 3388.100341796875,
                        "z": 370.0851135253906
                    },
                    "rotation": {
                        "roll": -0.0015868924092501402,
                        "pitch": 0.5536892414093018,
                        "yaw": 98.98433685302734
                    }
                },
                "velocity": {
                    "x": -1.2980746030807495,
                    "y": 8.07139778137207,
                    "z": 0.07960929721593857
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.512173652648926,
                "transform": {
                    "location": {
                        "x": 959.7537231445312,
                        "y": 3404.998779296875,
                        "z": 370.23968505859375
                    },
                    "rotation": {
                        "roll": 0.01848302222788334,
                        "pitch": 0.854087769985199,
                        "yaw": 100.16143035888672
                    }
                },
                "velocity": {
                    "x": -0.44569796323776245,
                    "y": 2.4722609519958496,
                    "z": 0.017176389694213867
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.01373291015625,
                "transform": {
                    "location": {
                        "x": 956.6200561523438,
                        "y": 3424.51904296875,
                        "z": 370.3782043457031
                    },
                    "rotation": {
                        "roll": -0.00262453337199986,
                        "pitch": 0.3874014914035797,
                        "yaw": 98.98748779296875
                    }
                },
                "velocity": {
                    "x": -1.2746684551239014,
                    "y": 7.911536693572998,
                    "z": 0.052219923585653305
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162597417831421,
                "transform": {
                    "location": {
                        "x": 952.0375366210938,
                        "y": 3427.4580078125,
                        "z": 370.3900451660156
                    },
                    "rotation": {
                        "roll": -0.0005798495258204639,
                        "pitch": 0.5877445936203003,
                        "yaw": 99.13780212402344
                    }
                },
                "velocity": {
                    "x": -0.5018815398216248,
                    "y": 3.122448682785034,
                    "z": 0.021235227584838867
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.164952516555786,
                "transform": {
                    "location": {
                        "x": 953.6610107421875,
                        "y": 3417.372314453125,
                        "z": 370.3175354003906
                    },
                    "rotation": {
                        "roll": 0.0024965598713606596,
                        "pitch": 0.0813407152891159,
                        "yaw": 99.14244079589844
                    }
                },
                "velocity": {
                    "x": -0.5029376745223999,
                    "y": 3.12465500831604,
                    "z": 0.022578783333301544
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0012694597244263,
        "expert_target_speed": 5.898964660768506,
        "target_point": [
            26.363989543250028,
            2.8437810297077255
        ],
        "target_point_next": [
            77.31850480293484,
            5.001549704097583
        ]
    },
    "295": {
        "acceleration": [
            -1.6175354719161987,
            11.421796798706055,
            0.11686365306377411
        ],
        "angular_velocity": [
            5.2905073165893555,
            0.7661083936691284,
            0.30117738246917725
        ],
        "forward_vector": [
            -0.12391689419746399,
            0.9919999837875366,
            -0.024097135290503502
        ],
        "right_vector": [
            -0.9922908544540405,
            -0.12392575293779373,
            0.0011309812543913722
        ],
        "location": [
            956.313232421875,
            3417.505615234375,
            370.334716796875
        ],
        "rotation": [
            -0.06481929123401642,
            -1.3807977437973022,
            97.12029266357422
        ],
        "velocity": [
            -0.08070318400859833,
            0.5771291851997375,
            0.003947582095861435
        ],
        "speed": 0.5827444554162988,
        "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": 8.999699592590332,
        "front_vehicle_info": {
            "id": 86172,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                956.3004760742188,
                3426.505126953125,
                370.3915100097656
            ],
            "velocity": [
                -1.2825483083724976,
                7.976171016693115,
                0.05339992418885231
            ],
            "speed_kmh": 29.083697014025088,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.333073616027832,
                "transform": {
                    "location": {
                        "x": 955.92578125,
                        "y": 3470.67236328125,
                        "z": 370.61517333984375
                    },
                    "rotation": {
                        "roll": -0.0022888274397701025,
                        "pitch": -0.2412969172000885,
                        "yaw": -80.36603546142578
                    }
                },
                "velocity": {
                    "x": 1.054864764213562,
                    "y": -6.244553089141846,
                    "z": -0.0253242626786232
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.170858383178711,
                "transform": {
                    "location": {
                        "x": 953.0086669921875,
                        "y": 3468.405517578125,
                        "z": 370.6156921386719
                    },
                    "rotation": {
                        "roll": 0.011913435533642769,
                        "pitch": 0.11088128387928009,
                        "yaw": -80.50750732421875
                    }
                },
                "velocity": {
                    "x": 1.3366503715515137,
                    "y": -8.060718536376953,
                    "z": -0.03339254856109619
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.480385780334473,
                "transform": {
                    "location": {
                        "x": 969.5463256835938,
                        "y": 3386.293701171875,
                        "z": 370.04937744140625
                    },
                    "rotation": {
                        "roll": -0.0003967306111007929,
                        "pitch": -0.5661065578460693,
                        "yaw": -80.83827209472656
                    }
                },
                "velocity": {
                    "x": 1.3464797735214233,
                    "y": -8.372333526611328,
                    "z": -0.0892680436372757
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087671279907227,
                "transform": {
                    "location": {
                        "x": 967.0042724609375,
                        "y": 3381.618896484375,
                        "z": 370.0061340332031
                    },
                    "rotation": {
                        "roll": -0.000152567881741561,
                        "pitch": -0.6296067833900452,
                        "yaw": -80.85920715332031
                    }
                },
                "velocity": {
                    "x": 1.2856043577194214,
                    "y": -7.984355926513672,
                    "z": -0.087793730199337
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86200,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 976.6240234375,
                        "y": 3341.702392578125,
                        "z": 369.5032043457031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8325795531272888,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86198,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 973.5072631835938,
                        "y": 3340.58984375,
                        "z": 369.4948425292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.8667578101158142,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.463255882263184,
                "transform": {
                    "location": {
                        "x": 967.9087524414062,
                        "y": 3354.3076171875,
                        "z": 369.69488525390625
                    },
                    "rotation": {
                        "roll": -0.0010681025451049209,
                        "pitch": 0.9226492047309875,
                        "yaw": 99.20499420166016
                    }
                },
                "velocity": {
                    "x": -1.0258444547653198,
                    "y": 6.380740642547607,
                    "z": 0.08640605956315994
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.287031173706055,
                "transform": {
                    "location": {
                        "x": 965.0526123046875,
                        "y": 3372.034912109375,
                        "z": 369.9076843261719
                    },
                    "rotation": {
                        "roll": -0.0007934292079880834,
                        "pitch": 0.7051145434379578,
                        "yaw": 99.12745666503906
                    }
                },
                "velocity": {
                    "x": -1.3165056705474854,
                    "y": 8.181228637695312,
                    "z": 0.0959177017211914
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020727157592773,
                "transform": {
                    "location": {
                        "x": 959.8907470703125,
                        "y": 3425.82763671875,
                        "z": 370.3800354003906
                    },
                    "rotation": {
                        "roll": 0.0014075440121814609,
                        "pitch": -0.38391125202178955,
                        "yaw": -80.8602066040039
                    }
                },
                "velocity": {
                    "x": 1.272942066192627,
                    "y": -7.918894290924072,
                    "z": -0.05282197520136833
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.039137840270996,
                "transform": {
                    "location": {
                        "x": 962.7592163085938,
                        "y": 3428.456787109375,
                        "z": 370.4324645996094
                    },
                    "rotation": {
                        "roll": 0.0006844471790827811,
                        "pitch": -0.36959517002105713,
                        "yaw": -80.84188079833984
                    }
                },
                "velocity": {
                    "x": 1.2780044078826904,
                    "y": -7.936727523803711,
                    "z": -0.05284285917878151
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.985947132110596,
                "transform": {
                    "location": {
                        "x": 945.5057373046875,
                        "y": 3473.0439453125,
                        "z": 370.6424560546875
                    },
                    "rotation": {
                        "roll": -0.0012207068502902985,
                        "pitch": 0.24060022830963135,
                        "yaw": 99.12510681152344
                    }
                },
                "velocity": {
                    "x": -1.2690213918685913,
                    "y": 7.884403705596924,
                    "z": 0.033317212015390396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.8988037109375,
                        "y": 3489.86865234375,
                        "z": 370.7064514160156
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.1885986328125,
                        "y": 3340.753662109375,
                        "z": 369.50494384765625
                    },
                    "rotation": {
                        "roll": -2.6683242282388164e-08,
                        "pitch": 0.8325248956680298,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.008244514465332,
                "transform": {
                    "location": {
                        "x": 962.1770629882812,
                        "y": 3389.964599609375,
                        "z": 370.1031494140625
                    },
                    "rotation": {
                        "roll": -0.002166732680052519,
                        "pitch": 0.4102621078491211,
                        "yaw": 98.96080017089844
                    }
                },
                "velocity": {
                    "x": -1.1179940700531006,
                    "y": 6.918160915374756,
                    "z": 0.06802781671285629
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5938642024993896,
                "transform": {
                    "location": {
                        "x": 959.7293701171875,
                        "y": 3405.154296875,
                        "z": 370.2421875
                    },
                    "rotation": {
                        "roll": 0.007410443853586912,
                        "pitch": 0.6933324933052063,
                        "yaw": 100.60005950927734
                    }
                },
                "velocity": {
                    "x": -0.09418085962533951,
                    "y": 0.5863257646560669,
                    "z": 0.005170526448637247
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.078804969787598,
                "transform": {
                    "location": {
                        "x": 956.3004760742188,
                        "y": 3426.505126953125,
                        "z": 370.3915100097656
                    },
                    "rotation": {
                        "roll": 0.00046971888514235616,
                        "pitch": 0.3743489980697632,
                        "yaw": 98.99290466308594
                    }
                },
                "velocity": {
                    "x": -1.2825483083724976,
                    "y": 7.976171016693115,
                    "z": 0.05339992418885231
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162569761276245,
                "transform": {
                    "location": {
                        "x": 951.9119873046875,
                        "y": 3428.238037109375,
                        "z": 370.3951110839844
                    },
                    "rotation": {
                        "roll": 0.0005245113861747086,
                        "pitch": 0.5882841348648071,
                        "yaw": 99.13815307617188
                    }
                },
                "velocity": {
                    "x": -0.5023730993270874,
                    "y": 3.1223433017730713,
                    "z": 0.021025514230132103
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650941371917725,
                "transform": {
                    "location": {
                        "x": 953.5352783203125,
                        "y": 3418.153564453125,
                        "z": 370.3228759765625
                    },
                    "rotation": {
                        "roll": 0.0007893144502304494,
                        "pitch": 0.08183932304382324,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -0.5028674602508545,
                    "y": 3.1248178482055664,
                    "z": 0.021435804665088654
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9992567300796509,
        "expert_target_speed": 1.7804780728771812,
        "target_point": [
            25.959319347398388,
            2.663632680978075
        ],
        "target_point_next": [
            76.92774279433293,
            4.463188830588988
        ]
    },
    "300": {
        "acceleration": [
            -0.4728999733924866,
            3.3444786071777344,
            0.04010429605841637
        ],
        "angular_velocity": [
            3.588773727416992,
            0.39472758769989014,
            0.3725847601890564
        ],
        "forward_vector": [
            -0.12602892518043518,
            0.9920263886451721,
            0.000567912997212261
        ],
        "right_vector": [
            -0.9920260310173035,
            -0.12602944672107697,
            0.0009811078198254108
        ],
        "location": [
            956.2664794921875,
            3417.84423828125,
            370.3318176269531
        ],
        "rotation": [
            -0.05621336027979851,
            0.03253902122378349,
            97.24018096923828
        ],
        "velocity": [
            -0.2534636855125427,
            1.80311119556427,
            0.013784131966531277
        ],
        "speed": 1.820838769205778,
        "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": 10.651044845581055,
        "front_vehicle_info": {
            "id": 86172,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                955.9810791015625,
                3428.4912109375,
                370.4045104980469
            ],
            "velocity": [
                -1.272856593132019,
                7.912064075469971,
                0.05281022936105728
            ],
            "speed_kmh": 28.850291011826222,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.300853252410889,
                "transform": {
                    "location": {
                        "x": 956.207763671875,
                        "y": 3468.99609375,
                        "z": 370.6078796386719
                    },
                    "rotation": {
                        "roll": -0.00042724324157461524,
                        "pitch": -0.2123710662126541,
                        "yaw": -80.48043060302734
                    }
                },
                "velocity": {
                    "x": 1.1957871913909912,
                    "y": -7.202197551727295,
                    "z": -0.029950065538287163
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.183012008666992,
                "transform": {
                    "location": {
                        "x": 953.3499145507812,
                        "y": 3466.33984375,
                        "z": 370.60693359375
                    },
                    "rotation": {
                        "roll": 0.0077988882549107075,
                        "pitch": -0.14889810979366302,
                        "yaw": -80.62171936035156
                    }
                },
                "velocity": {
                    "x": 1.330269455909729,
                    "y": -8.074091911315918,
                    "z": -0.03321650251746178
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.458322525024414,
                "transform": {
                    "location": {
                        "x": 969.8890991210938,
                        "y": 3384.161376953125,
                        "z": 370.0268249511719
                    },
                    "rotation": {
                        "roll": -0.0009765089489519596,
                        "pitch": -0.628507137298584,
                        "yaw": -80.82763671875
                    }
                },
                "velocity": {
                    "x": 1.3430540561676025,
                    "y": -8.350508689880371,
                    "z": -0.09175924211740494
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053874015808105,
                "transform": {
                    "location": {
                        "x": 967.3248291015625,
                        "y": 3379.627197265625,
                        "z": 369.9840087890625
                    },
                    "rotation": {
                        "roll": -0.00018311874009668827,
                        "pitch": -0.6274074912071228,
                        "yaw": -80.85639953613281
                    }
                },
                "velocity": {
                    "x": 1.2797224521636963,
                    "y": -7.951067924499512,
                    "z": -0.08784768730401993
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.447490692138672,
                "transform": {
                    "location": {
                        "x": 967.655029296875,
                        "y": 3355.87939453125,
                        "z": 369.716552734375
                    },
                    "rotation": {
                        "roll": 0.0006130915717221797,
                        "pitch": 0.770534098148346,
                        "yaw": 99.13715362548828
                    }
                },
                "velocity": {
                    "x": -1.025954008102417,
                    "y": 6.364838123321533,
                    "z": 0.07992639392614365
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.43005657196045,
                "transform": {
                    "location": {
                        "x": 964.7124633789062,
                        "y": 3374.14990234375,
                        "z": 369.9324035644531
                    },
                    "rotation": {
                        "roll": -0.00015256974438671023,
                        "pitch": 0.6903749704360962,
                        "yaw": 99.15503692626953
                    }
                },
                "velocity": {
                    "x": -1.3384764194488525,
                    "y": 8.32254409790039,
                    "z": 0.097925566136837
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038911819458008,
                "transform": {
                    "location": {
                        "x": 960.2095336914062,
                        "y": 3423.84619140625,
                        "z": 370.3666687011719
                    },
                    "rotation": {
                        "roll": 0.000478271278552711,
                        "pitch": -0.39404043555259705,
                        "yaw": -80.86195373535156
                    }
                },
                "velocity": {
                    "x": 1.2767056226730347,
                    "y": -7.936705589294434,
                    "z": -0.0532715767621994
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.025409698486328,
                "transform": {
                    "location": {
                        "x": 963.0785522460938,
                        "y": 3426.474853515625,
                        "z": 370.4192810058594
                    },
                    "rotation": {
                        "roll": 0.0007535517797805369,
                        "pitch": -0.3796355426311493,
                        "yaw": -80.87018585205078
                    }
                },
                "velocity": {
                    "x": 1.2733793258666992,
                    "y": -7.923573017120361,
                    "z": -0.05188080668449402
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.622413158416748,
                "transform": {
                    "location": {
                        "x": 945.208251953125,
                        "y": 3474.896240234375,
                        "z": 370.64947509765625
                    },
                    "rotation": {
                        "roll": 0.0007465315284207463,
                        "pitch": 0.34174850583076477,
                        "yaw": 99.22962951660156
                    }
                },
                "velocity": {
                    "x": -1.0522992610931396,
                    "y": 6.538214683532715,
                    "z": 0.02779342606663704
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.845458984375,
                        "y": 3490.19970703125,
                        "z": 370.7076110839844
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.7913818359375,
                        "y": 3343.221435546875,
                        "z": 369.5407409667969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7983534336090088,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.631772756576538,
                "transform": {
                    "location": {
                        "x": 961.947021484375,
                        "y": 3391.390869140625,
                        "z": 370.11669921875
                    },
                    "rotation": {
                        "roll": -0.0023498516529798508,
                        "pitch": 0.13463668525218964,
                        "yaw": 98.89592742919922
                    }
                },
                "velocity": {
                    "x": -0.5809406638145447,
                    "y": 3.5848727226257324,
                    "z": 0.031126994639635086
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.569726824760437,
                "transform": {
                    "location": {
                        "x": 959.6817626953125,
                        "y": 3405.44140625,
                        "z": 370.24700927734375
                    },
                    "rotation": {
                        "roll": 0.00484783248975873,
                        "pitch": 0.37838563323020935,
                        "yaw": 100.43125915527344
                    }
                },
                "velocity": {
                    "x": -0.24997052550315857,
                    "y": 1.5496512651443481,
                    "z": 0.011740073561668396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.013970375061035,
                "transform": {
                    "location": {
                        "x": 955.9810791015625,
                        "y": 3428.4912109375,
                        "z": 370.4045104980469
                    },
                    "rotation": {
                        "roll": -0.0008240154129453003,
                        "pitch": 0.36999815702438354,
                        "yaw": 98.97683715820312
                    }
                },
                "velocity": {
                    "x": -1.272856593132019,
                    "y": 7.912064075469971,
                    "z": 0.05281022936105728
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1625428199768066,
                "transform": {
                    "location": {
                        "x": 951.786376953125,
                        "y": 3429.018310546875,
                        "z": 370.4001770019531
                    },
                    "rotation": {
                        "roll": 0.00027058046543970704,
                        "pitch": 0.5887417793273926,
                        "yaw": 99.1392593383789
                    }
                },
                "velocity": {
                    "x": -0.5024232268333435,
                    "y": 3.1223061084747314,
                    "z": 0.021280689164996147
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1652512550354004,
                "transform": {
                    "location": {
                        "x": 953.4096069335938,
                        "y": 3418.934814453125,
                        "z": 370.3282775878906
                    },
                    "rotation": {
                        "roll": -0.0015563975321128964,
                        "pitch": 0.08299362659454346,
                        "yaw": 99.14246368408203
                    }
                },
                "velocity": {
                    "x": -0.5025104880332947,
                    "y": 3.125030517578125,
                    "z": 0.021980753168463707
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9992565512657166,
        "expert_target_speed": 3.014175753276093,
        "target_point": [
            25.623018033847778,
            2.6056313860087874
        ],
        "target_point_next": [
            76.59509361620606,
            4.29858792059084
        ]
    },
    "305": {
        "acceleration": [
            -1.1354297399520874,
            7.399182319641113,
            0.04509966820478439
        ],
        "angular_velocity": [
            2.1636974811553955,
            0.3557257056236267,
            1.5218638181686401
        ],
        "forward_vector": [
            -0.1309788078069687,
            0.9913182854652405,
            0.011520368047058582
        ],
        "right_vector": [
            -0.9913822412490845,
            -0.13099800050258636,
            0.0009245881228707731
        ],
        "location": [
            956.1803588867188,
            3418.45556640625,
            370.333740234375
        ],
        "rotation": [
            -0.0529785193502903,
            0.6600831151008606,
            97.52665710449219
        ],
        "velocity": [
            -0.4575444161891937,
            3.160738706588745,
            0.021601591259241104
        ],
        "speed": 3.193683776474152,
        "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": 12.03299331665039,
        "front_vehicle_info": {
            "id": 86172,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                955.660888671875,
                3430.47705078125,
                370.4174499511719
            ],
            "velocity": [
                -1.2842769622802734,
                7.97699499130249,
                0.05347016081213951
            ],
            "speed_kmh": 29.087615818919765,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.296370506286621,
                "transform": {
                    "location": {
                        "x": 956.5220336914062,
                        "y": 3467.10302734375,
                        "z": 370.59991455078125
                    },
                    "rotation": {
                        "roll": 3.495158671285026e-05,
                        "pitch": -0.20877155661582947,
                        "yaw": -80.63497161865234
                    }
                },
                "velocity": {
                    "x": 1.3469575643539429,
                    "y": -8.186225891113281,
                    "z": -0.03425326570868492
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.8153557777404785,
                "transform": {
                    "location": {
                        "x": 953.670654296875,
                        "y": 3464.388671875,
                        "z": 370.5984191894531
                    },
                    "rotation": {
                        "roll": 0.007039172574877739,
                        "pitch": -0.2882339656352997,
                        "yaw": -80.67222595214844
                    }
                },
                "velocity": {
                    "x": 1.2613506317138672,
                    "y": -7.712825298309326,
                    "z": -0.0332397036254406
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.11298942565918,
                "transform": {
                    "location": {
                        "x": 970.2171020507812,
                        "y": 3382.123291015625,
                        "z": 370.00421142578125
                    },
                    "rotation": {
                        "roll": -0.00021361687686294317,
                        "pitch": -0.6417235732078552,
                        "yaw": -80.82640075683594
                    }
                },
                "velocity": {
                    "x": 1.2884297370910645,
                    "y": -8.009514808654785,
                    "z": -0.09066838026046753
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087610244750977,
                "transform": {
                    "location": {
                        "x": 967.6454467773438,
                        "y": 3377.635009765625,
                        "z": 369.9618225097656
                    },
                    "rotation": {
                        "roll": -0.0014953407226130366,
                        "pitch": -0.6275303959846497,
                        "yaw": -80.85636138916016
                    }
                },
                "velocity": {
                    "x": 1.2850953340530396,
                    "y": -7.984368324279785,
                    "z": -0.08857788145542145
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.015514850616455,
                "transform": {
                    "location": {
                        "x": 967.3856201171875,
                        "y": 3357.553466796875,
                        "z": 369.73846435546875
                    },
                    "rotation": {
                        "roll": 0.000658728473354131,
                        "pitch": 0.6482532024383545,
                        "yaw": 99.17117309570312
                    }
                },
                "velocity": {
                    "x": -1.1173244714736938,
                    "y": 6.925413608551025,
                    "z": 0.0876273512840271
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.205418109893799,
                "transform": {
                    "location": {
                        "x": 964.4025268554688,
                        "y": 3376.076904296875,
                        "z": 369.95428466796875
                    },
                    "rotation": {
                        "roll": -0.0008545268210582435,
                        "pitch": 0.5022374391555786,
                        "yaw": 99.1231460571289
                    }
                },
                "velocity": {
                    "x": -1.1443049907684326,
                    "y": 7.11350679397583,
                    "z": 0.08150049299001694
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024744033813477,
                "transform": {
                    "location": {
                        "x": 960.5285034179688,
                        "y": 3421.86376953125,
                        "z": 370.35302734375
                    },
                    "rotation": {
                        "roll": -0.0005493361968547106,
                        "pitch": -0.3931320011615753,
                        "yaw": -80.85846710205078
                    }
                },
                "velocity": {
                    "x": 1.2748459577560425,
                    "y": -7.922656059265137,
                    "z": -0.052990030497312546
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.033857345581055,
                "transform": {
                    "location": {
                        "x": 963.3973388671875,
                        "y": 3424.493408203125,
                        "z": 370.406005859375
                    },
                    "rotation": {
                        "roll": 0.0004315391997806728,
                        "pitch": -0.39001062512397766,
                        "yaw": -80.8439712524414
                    }
                },
                "velocity": {
                    "x": 1.2767077684402466,
                    "y": -7.931581974029541,
                    "z": -0.053710777312517166
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3664493560791016,
                "transform": {
                    "location": {
                        "x": 945.04833984375,
                        "y": 3475.919189453125,
                        "z": 370.65069580078125
                    },
                    "rotation": {
                        "roll": 0.0159651767462492,
                        "pitch": 0.6895485520362854,
                        "yaw": 100.58295440673828
                    }
                },
                "velocity": {
                    "x": -0.2564460039138794,
                    "y": 1.3421586751937866,
                    "z": 0.005425968207418919
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.7470092773438,
                        "y": 3490.810791015625,
                        "z": 370.7098083496094
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.526611328125,
                        "y": 3344.866455078125,
                        "z": 369.5643615722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7983534336090088,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.434975266456604,
                "transform": {
                    "location": {
                        "x": 961.90966796875,
                        "y": 3391.62158203125,
                        "z": 370.1187744140625
                    },
                    "rotation": {
                        "roll": 0.0022586241830140352,
                        "pitch": 0.053077396005392075,
                        "yaw": 98.81649017333984
                    }
                },
                "velocity": {
                    "x": -0.06741555780172348,
                    "y": 0.429686039686203,
                    "z": 0.005341930314898491
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2561721801757812,
                "transform": {
                    "location": {
                        "x": 959.5996704101562,
                        "y": 3405.937744140625,
                        "z": 370.2511291503906
                    },
                    "rotation": {
                        "roll": 0.004722282290458679,
                        "pitch": 0.34830546379089355,
                        "yaw": 100.15904235839844
                    }
                },
                "velocity": {
                    "x": -0.3574365973472595,
                    "y": 2.2276077270507812,
                    "z": 0.017771778628230095
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.079893112182617,
                "transform": {
                    "location": {
                        "x": 955.660888671875,
                        "y": 3430.47705078125,
                        "z": 370.4174499511719
                    },
                    "rotation": {
                        "roll": -9.15558121050708e-05,
                        "pitch": 0.3728395104408264,
                        "yaw": 99.01383972167969
                    }
                },
                "velocity": {
                    "x": -1.2842769622802734,
                    "y": 7.97699499130249,
                    "z": 0.05347016081213951
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162632465362549,
                "transform": {
                    "location": {
                        "x": 951.6608276367188,
                        "y": 3429.798583984375,
                        "z": 370.4053039550781
                    },
                    "rotation": {
                        "roll": -0.00045778011553920805,
                        "pitch": 0.5879290103912354,
                        "yaw": 99.1384048461914
                    }
                },
                "velocity": {
                    "x": -0.5022691488265991,
                    "y": 3.122419595718384,
                    "z": 0.02157759666442871
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651782989501953,
                "transform": {
                    "location": {
                        "x": 953.2838134765625,
                        "y": 3419.716064453125,
                        "z": 370.3336181640625
                    },
                    "rotation": {
                        "roll": 0.0009902416495606303,
                        "pitch": 0.08108117431402206,
                        "yaw": 99.14226531982422
                    }
                },
                "velocity": {
                    "x": -0.5030666589736938,
                    "y": 3.1248767375946045,
                    "z": 0.020557861775159836
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.000359058380127,
        "expert_target_speed": 4.365594969787143,
        "target_point": [
            25.01838683549951,
            2.4721550161534607
        ],
        "target_point_next": [
            75.99829155164531,
            3.910176620415985
        ]
    },
    "310": {
        "acceleration": [
            -1.348813772201538,
            6.635885238647461,
            0.05466923117637634
        ],
        "angular_velocity": [
            0.6994688510894775,
            0.3232325613498688,
            2.8652663230895996
        ],
        "forward_vector": [
            -0.1399518996477127,
            0.9900006651878357,
            0.01766875572502613
        ],
        "right_vector": [
            -0.9901506304740906,
            -0.13999876379966736,
            0.0014384145615622401
        ],
        "location": [
            956.029296875,
            3419.47705078125,
            370.3394470214844
        ],
        "rotation": [
            -0.082427978515625,
            1.0123978853225708,
            98.04632568359375
        ],
        "velocity": [
            -0.7578518390655518,
            4.874645233154297,
            0.033384934067726135
        ],
        "speed": 4.9332043905649146,
        "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": 13.004597663879395,
        "front_vehicle_info": {
            "id": 86172,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                955.3416137695312,
                3432.463134765625,
                370.430419921875
            ],
            "velocity": [
                -1.2716541290283203,
                7.911564350128174,
                0.051194172352552414
            ],
            "speed_kmh": 28.84778984450216,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.53090763092041,
                "transform": {
                    "location": {
                        "x": 956.8741455078125,
                        "y": 3464.9619140625,
                        "z": 370.5908508300781
                    },
                    "rotation": {
                        "roll": -3.0509312637150288e-05,
                        "pitch": -0.23028664290905,
                        "yaw": -80.71639251708984
                    }
                },
                "velocity": {
                    "x": 1.3784008026123047,
                    "y": -8.418734550476074,
                    "z": -0.036209587007761
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.189725875854492,
                "transform": {
                    "location": {
                        "x": 953.993408203125,
                        "y": 3462.408935546875,
                        "z": 370.5897521972656
                    },
                    "rotation": {
                        "roll": 0.004977847915142775,
                        "pitch": -0.21252132952213287,
                        "yaw": -80.74192810058594
                    }
                },
                "velocity": {
                    "x": 1.3153126239776611,
                    "y": -8.083335876464844,
                    "z": -0.03540344163775444
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.136656761169434,
                "transform": {
                    "location": {
                        "x": 970.52880859375,
                        "y": 3380.18701171875,
                        "z": 369.9827575683594
                    },
                    "rotation": {
                        "roll": -0.00033571518724784255,
                        "pitch": -0.6571051478385925,
                        "yaw": -80.85929107666016
                    }
                },
                "velocity": {
                    "x": 1.1343369483947754,
                    "y": -7.04549503326416,
                    "z": -0.07841161638498306
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.054723739624023,
                "transform": {
                    "location": {
                        "x": 967.966064453125,
                        "y": 3375.64306640625,
                        "z": 369.939208984375
                    },
                    "rotation": {
                        "roll": -3.0551083909813315e-05,
                        "pitch": -0.6551517248153687,
                        "yaw": -80.85606384277344
                    }
                },
                "velocity": {
                    "x": 1.2799023389816284,
                    "y": -7.951859474182129,
                    "z": -0.09138673543930054
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.805891036987305,
                "transform": {
                    "location": {
                        "x": 967.0726318359375,
                        "y": 3359.49169921875,
                        "z": 369.7635192871094
                    },
                    "rotation": {
                        "roll": -0.0016174347838386893,
                        "pitch": 0.5229670405387878,
                        "yaw": 99.1103744506836
                    }
                },
                "velocity": {
                    "x": -1.3983358144760132,
                    "y": 8.693520545959473,
                    "z": 0.10519708693027496
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.910429000854492,
                "transform": {
                    "location": {
                        "x": 964.1627197265625,
                        "y": 3377.567626953125,
                        "z": 369.970703125
                    },
                    "rotation": {
                        "roll": 0.0015008769696578383,
                        "pitch": 0.20539060235023499,
                        "yaw": 99.128173828125
                    }
                },
                "velocity": {
                    "x": -0.6203047633171082,
                    "y": 3.860724687576294,
                    "z": 0.03848554566502571
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03823184967041,
                "transform": {
                    "location": {
                        "x": 960.8475341796875,
                        "y": 3419.881103515625,
                        "z": 370.3394775390625
                    },
                    "rotation": {
                        "roll": -9.156938904197887e-05,
                        "pitch": -0.39397895336151123,
                        "yaw": -80.85838317871094
                    }
                },
                "velocity": {
                    "x": 1.2771309614181519,
                    "y": -7.935949325561523,
                    "z": -0.05303485691547394
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.032028198242188,
                "transform": {
                    "location": {
                        "x": 963.716552734375,
                        "y": 3422.51025390625,
                        "z": 370.3924255371094
                    },
                    "rotation": {
                        "roll": -6.104622298153117e-05,
                        "pitch": -0.38943687081336975,
                        "yaw": -80.87309265136719
                    }
                },
                "velocity": {
                    "x": 1.275829553604126,
                    "y": -7.92987060546875,
                    "z": -0.05374288558959961
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.135025978088379,
                "transform": {
                    "location": {
                        "x": 944.9803466796875,
                        "y": 3476.329833984375,
                        "z": 370.65557861328125
                    },
                    "rotation": {
                        "roll": -0.003936752211302519,
                        "pitch": 0.3038819432258606,
                        "yaw": 100.46289825439453
                    }
                },
                "velocity": {
                    "x": -0.3379424214363098,
                    "y": 2.108093738555908,
                    "z": 0.008461694233119488
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.59375,
                        "y": 3491.762939453125,
                        "z": 370.7132873535156
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 969.1294555664062,
                        "y": 3347.334228515625,
                        "z": 369.59912109375
                    },
                    "rotation": {
                        "roll": -2.6682798193178314e-08,
                        "pitch": 0.764168381690979,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.475935459136963,
                "transform": {
                    "location": {
                        "x": 961.8693237304688,
                        "y": 3391.874267578125,
                        "z": 370.1220703125
                    },
                    "rotation": {
                        "roll": -0.0030517536215484142,
                        "pitch": 0.5743232369422913,
                        "yaw": 98.83802795410156
                    }
                },
                "velocity": {
                    "x": -0.23204483091831207,
                    "y": 1.4575002193450928,
                    "z": 0.015295256860554218
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0018409379990771413,
                "transform": {
                    "location": {
                        "x": 959.5377807617188,
                        "y": 3406.3134765625,
                        "z": 370.2520751953125
                    },
                    "rotation": {
                        "roll": 0.012460052035748959,
                        "pitch": 0.5927237868309021,
                        "yaw": 99.98155975341797
                    }
                },
                "velocity": {
                    "x": -0.0004106741980649531,
                    "y": 0.0016955011524260044,
                    "z": 0.0005879415548406541
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.013275146484375,
                "transform": {
                    "location": {
                        "x": 955.3416137695312,
                        "y": 3432.463134765625,
                        "z": 370.430419921875
                    },
                    "rotation": {
                        "roll": -0.0002746540412772447,
                        "pitch": 0.3712070882320404,
                        "yaw": 98.97444915771484
                    }
                },
                "velocity": {
                    "x": -1.2716541290283203,
                    "y": 7.911564350128174,
                    "z": 0.051194172352552414
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162550926208496,
                "transform": {
                    "location": {
                        "x": 951.5352172851562,
                        "y": 3430.5791015625,
                        "z": 370.4103698730469
                    },
                    "rotation": {
                        "roll": 0.000499403802677989,
                        "pitch": 0.5880929231643677,
                        "yaw": 99.13877868652344
                    }
                },
                "velocity": {
                    "x": -0.5024993419647217,
                    "y": 3.122298240661621,
                    "z": 0.02185213938355446
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1652026176452637,
                "transform": {
                    "location": {
                        "x": 953.1580810546875,
                        "y": 3420.497314453125,
                        "z": 370.3389892578125
                    },
                    "rotation": {
                        "roll": 0.0011913188500329852,
                        "pitch": 0.07823298126459122,
                        "yaw": 99.14269256591797
                    }
                },
                "velocity": {
                    "x": -0.5027873516082764,
                    "y": 3.124943733215332,
                    "z": 0.020968159660696983
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0005992650985718,
        "expert_target_speed": 5.6421422025126216,
        "target_point": [
            24.00720693184752,
            2.2385485089518444
        ],
        "target_point_next": [
            74.99805733265967,
            3.214133668549067
        ]
    },
    "315": {
        "acceleration": [
            -0.20096421241760254,
            -0.14146804809570312,
            -0.006140843033790588
        ],
        "angular_velocity": [
            -1.7805904150009155,
            -0.365374356508255,
            2.900939464569092
        ],
        "forward_vector": [
            -0.15407316386699677,
            0.9879433512687683,
            0.015145079232752323
        ],
        "right_vector": [
            -0.9880511164665222,
            -0.15411660075187683,
            0.001736180973239243
        ],
        "location": [
            955.8120727539062,
            3420.83056640625,
            370.3495178222656
        ],
        "rotation": [
            -0.0994872972369194,
            0.8677822947502136,
            98.86407470703125
        ],
        "velocity": [
            -0.928004801273346,
            5.528979778289795,
            0.03681306913495064
        ],
        "speed": 5.606318783294779,
        "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": 13.641880989074707,
        "front_vehicle_info": {
            "id": 86172,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                955.0218505859375,
                3434.44921875,
                370.4432067871094
            ],
            "velocity": [
                -1.2860162258148193,
                7.976253986358643,
                0.04902556166052818
            ],
            "speed_kmh": 29.085876656236415,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.151346206665039,
                "transform": {
                    "location": {
                        "x": 957.2085571289062,
                        "y": 3462.9130859375,
                        "z": 370.5820617675781
                    },
                    "rotation": {
                        "roll": 0.0011674817651510239,
                        "pitch": -0.2704208493232727,
                        "yaw": -80.7779541015625
                    }
                },
                "velocity": {
                    "x": 1.3070287704467773,
                    "y": -8.045791625976562,
                    "z": -0.036838557571172714
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.011640548706055,
                "transform": {
                    "location": {
                        "x": 954.3192138671875,
                        "y": 3460.404296875,
                        "z": 370.5806579589844
                    },
                    "rotation": {
                        "roll": 0.0023578025866299868,
                        "pitch": -0.27276358008384705,
                        "yaw": -80.77064514160156
                    }
                },
                "velocity": {
                    "x": 1.284081220626831,
                    "y": -7.907979965209961,
                    "z": -0.036987632513046265
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.784854888916016,
                "transform": {
                    "location": {
                        "x": 970.7993774414062,
                        "y": 3378.503662109375,
                        "z": 369.9640197753906
                    },
                    "rotation": {
                        "roll": -0.0004577586951199919,
                        "pitch": -0.6485605835914612,
                        "yaw": -80.80724334716797
                    }
                },
                "velocity": {
                    "x": 1.0787569284439087,
                    "y": -6.698124408721924,
                    "z": -0.0752902552485466
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087749481201172,
                "transform": {
                    "location": {
                        "x": 968.2866821289062,
                        "y": 3373.651123046875,
                        "z": 369.916015625
                    },
                    "rotation": {
                        "roll": 0.0004901524516753852,
                        "pitch": -0.6650691628456116,
                        "yaw": -80.8543472290039
                    }
                },
                "velocity": {
                    "x": 1.2866305112838745,
                    "y": -7.984216690063477,
                    "z": -0.09251313656568527
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.539766311645508,
                "transform": {
                    "location": {
                        "x": 966.7201538085938,
                        "y": 3361.68408203125,
                        "z": 369.7890625
                    },
                    "rotation": {
                        "roll": -0.0001220715494127944,
                        "pitch": 0.6798906326293945,
                        "yaw": 99.15326690673828
                    }
                },
                "velocity": {
                    "x": -1.3580923080444336,
                    "y": 8.430449485778809,
                    "z": 0.10348279774188995
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.40176230669021606,
                "transform": {
                    "location": {
                        "x": 964.1199951171875,
                        "y": 3377.833984375,
                        "z": 369.9732971191406
                    },
                    "rotation": {
                        "roll": 0.00039277630276046693,
                        "pitch": 0.0835263803601265,
                        "yaw": 99.13972473144531
                    }
                },
                "velocity": {
                    "x": -0.06343812495470047,
                    "y": 0.39669546484947205,
                    "z": 0.004611501470208168
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023650169372559,
                "transform": {
                    "location": {
                        "x": 961.1664428710938,
                        "y": 3417.89892578125,
                        "z": 370.3258972167969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3937057554721832,
                        "yaw": -80.85826873779297
                    }
                },
                "velocity": {
                    "x": 1.2747690677642822,
                    "y": -7.921563148498535,
                    "z": -0.052638307213783264
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02927303314209,
                "transform": {
                    "location": {
                        "x": 964.0352783203125,
                        "y": 3420.528564453125,
                        "z": 370.3787841796875
                    },
                    "rotation": {
                        "roll": 7.724161150690634e-06,
                        "pitch": -0.389614462852478,
                        "yaw": -80.84809875488281
                    }
                },
                "velocity": {
                    "x": 1.2751442193984985,
                    "y": -7.927193641662598,
                    "z": -0.053275659680366516
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0280895233154297,
                "transform": {
                    "location": {
                        "x": 944.87451171875,
                        "y": 3476.972412109375,
                        "z": 370.65948486328125
                    },
                    "rotation": {
                        "roll": -0.0008850064477883279,
                        "pitch": 0.15942344069480896,
                        "yaw": 100.1358871459961
                    }
                },
                "velocity": {
                    "x": -0.4804447889328003,
                    "y": 2.9897091388702393,
                    "z": 0.01175769791007042
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.379638671875,
                        "y": 3493.09521484375,
                        "z": 370.7181701660156
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.8646850585938,
                        "y": 3348.979248046875,
                        "z": 369.6217041015625
                    },
                    "rotation": {
                        "roll": -2.6682798193178314e-08,
                        "pitch": 0.764168381690979,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.38401198387146,
                "transform": {
                    "location": {
                        "x": 961.7935791015625,
                        "y": 3392.347412109375,
                        "z": 370.126953125
                    },
                    "rotation": {
                        "roll": -0.0038452167063951492,
                        "pitch": 0.6838248372077942,
                        "yaw": 98.92658996582031
                    }
                },
                "velocity": {
                    "x": -0.3771646320819855,
                    "y": 2.353874921798706,
                    "z": 0.023083791136741638
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2008280754089355,
                "transform": {
                    "location": {
                        "x": 959.50927734375,
                        "y": 3406.486083984375,
                        "z": 370.2548828125
                    },
                    "rotation": {
                        "roll": 0.004818947985768318,
                        "pitch": 0.3982478082180023,
                        "yaw": 99.9004135131836
                    }
                },
                "velocity": {
                    "x": -0.19028721749782562,
                    "y": 1.1856279373168945,
                    "z": 0.008072356693446636
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.079410552978516,
                "transform": {
                    "location": {
                        "x": 955.0218505859375,
                        "y": 3434.44921875,
                        "z": 370.4432067871094
                    },
                    "rotation": {
                        "roll": -0.0024413883220404387,
                        "pitch": 0.364253968000412,
                        "yaw": 99.00444030761719
                    }
                },
                "velocity": {
                    "x": -1.2860162258148193,
                    "y": 7.976253986358643,
                    "z": 0.04902556166052818
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162703275680542,
                "transform": {
                    "location": {
                        "x": 951.40966796875,
                        "y": 3431.359375,
                        "z": 370.41546630859375
                    },
                    "rotation": {
                        "roll": -0.0002136414113920182,
                        "pitch": 0.5879631638526917,
                        "yaw": 99.13811492919922
                    }
                },
                "velocity": {
                    "x": -0.5022161602973938,
                    "y": 3.1225032806396484,
                    "z": 0.02107933908700943
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650326251983643,
                "transform": {
                    "location": {
                        "x": 953.0324096679688,
                        "y": 3421.278564453125,
                        "z": 370.3443298339844
                    },
                    "rotation": {
                        "roll": 0.0011252012336626649,
                        "pitch": 0.08010445535182953,
                        "yaw": 99.14291381835938
                    }
                },
                "velocity": {
                    "x": -0.5028432011604309,
                    "y": 3.1247634887695312,
                    "z": 0.02083963342010975
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.9994035959243774,
        "expert_target_speed": 6.279074051542378,
        "target_point": [
            22.665886529832978,
            1.8896423182480118
        ],
        "target_point_next": [
            73.66546686938734,
            2.1374248659965147
        ]
    },
    "320": {
        "acceleration": [
            -1.1175322532653809,
            5.515356063842773,
            0.024242401123046875
        ],
        "angular_velocity": [
            0.3097658157348633,
            0.16798727214336395,
            4.1042327880859375
        ],
        "forward_vector": [
            -0.16454267501831055,
            0.9861860871315002,
            0.019042888656258583
        ],
        "right_vector": [
            -0.9863596558570862,
            -0.16459833085536957,
            0.001382461516186595
        ],
        "location": [
            955.5319213867188,
            3422.49365234375,
            370.3600769042969
        ],
        "rotation": [
            -0.07922360301017761,
            1.0911431312561035,
            99.47240447998047
        ],
        "velocity": [
            -1.2957415580749512,
            7.532061576843262,
            0.05088353157043457
        ],
        "speed": 7.642702256576603,
        "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": 13.966145515441895,
        "front_vehicle_info": {
            "id": 86172,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                954.702392578125,
                3436.434814453125,
                370.4554138183594
            ],
            "velocity": [
                -1.2716238498687744,
                7.913431167602539,
                0.0487605482339859
            ],
            "speed_kmh": 28.854353182093543,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.9317626953125,
                        "y": 3501.318603515625,
                        "z": 371.0422668457031
                    },
                    "rotation": {
                        "roll": 2.6680568865344867e-08,
                        "pitch": -0.1865256279706955,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.198089599609375,
                "transform": {
                    "location": {
                        "x": 957.5239868164062,
                        "y": 3460.969970703125,
                        "z": 370.57330322265625
                    },
                    "rotation": {
                        "roll": 0.0031214216724038124,
                        "pitch": -0.28497597575187683,
                        "yaw": -80.81236267089844
                    }
                },
                "velocity": {
                    "x": 1.150238037109375,
                    "y": -7.1055145263671875,
                    "z": -0.0332394577562809
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.006571769714355,
                "transform": {
                    "location": {
                        "x": 954.6381225585938,
                        "y": 3458.43701171875,
                        "z": 370.5716857910156
                    },
                    "rotation": {
                        "roll": 0.003749599913135171,
                        "pitch": -0.26372724771499634,
                        "yaw": -80.79515838623047
                    }
                },
                "velocity": {
                    "x": 1.2789149284362793,
                    "y": -7.903683185577393,
                    "z": -0.03696756809949875
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.538754463195801,
                "transform": {
                    "location": {
                        "x": 971.0824584960938,
                        "y": 3376.74609375,
                        "z": 369.94366455078125
                    },
                    "rotation": {
                        "roll": -0.0007323950994759798,
                        "pitch": -0.628691554069519,
                        "yaw": -80.85069274902344
                    }
                },
                "velocity": {
                    "x": 1.1972166299819946,
                    "y": -7.442595481872559,
                    "z": -0.08523362874984741
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.054506301879883,
                "transform": {
                    "location": {
                        "x": 968.6074829101562,
                        "y": 3371.6591796875,
                        "z": 369.89263916015625
                    },
                    "rotation": {
                        "roll": 0.0006097153527662158,
                        "pitch": -0.6641197204589844,
                        "yaw": -80.85079956054688
                    }
                },
                "velocity": {
                    "x": 1.2805792093276978,
                    "y": -7.951520919799805,
                    "z": -0.09224053472280502
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.0704956054688,
                        "y": 3498.642822265625,
                        "z": 370.77886962890625
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": -0.19894291460514069,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.416110992431641,
                "transform": {
                    "location": {
                        "x": 966.4052734375,
                        "y": 3363.6376953125,
                        "z": 369.8121337890625
                    },
                    "rotation": {
                        "roll": -0.0008239159360527992,
                        "pitch": 0.7872065901756287,
                        "yaw": 99.13404083251953
                    }
                },
                "velocity": {
                    "x": -1.1780177354812622,
                    "y": 7.321396350860596,
                    "z": 0.09017852693796158
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6095631122589111,
                "transform": {
                    "location": {
                        "x": 964.0763549804688,
                        "y": 3378.10400390625,
                        "z": 369.97705078125
                    },
                    "rotation": {
                        "roll": 0.0011710254475474358,
                        "pitch": 0.6480892896652222,
                        "yaw": 99.18415832519531
                    }
                },
                "velocity": {
                    "x": -0.256086140871048,
                    "y": 1.5889644622802734,
                    "z": 0.017461556941270828
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038949966430664,
                "transform": {
                    "location": {
                        "x": 961.4855346679688,
                        "y": 3415.91650390625,
                        "z": 370.312255859375
                    },
                    "rotation": {
                        "roll": -9.152934944722801e-05,
                        "pitch": -0.3926948606967926,
                        "yaw": -80.85844421386719
                    }
                },
                "velocity": {
                    "x": 1.2771414518356323,
                    "y": -7.936671733856201,
                    "z": -0.053461067378520966
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.033422470092773,
                "transform": {
                    "location": {
                        "x": 964.3543701171875,
                        "y": 3418.54638671875,
                        "z": 370.36517333984375
                    },
                    "rotation": {
                        "roll": 0.0001326581259490922,
                        "pitch": -0.38827574253082275,
                        "yaw": -80.87487030029297
                    }
                },
                "velocity": {
                    "x": 1.2757138013839722,
                    "y": -7.931314468383789,
                    "z": -0.05182205140590668
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.096893787384033,
                "transform": {
                    "location": {
                        "x": 944.7301635742188,
                        "y": 3477.851806640625,
                        "z": 370.6632995605469
                    },
                    "rotation": {
                        "roll": -0.0002136173570761457,
                        "pitch": 0.12838022410869598,
                        "yaw": 99.78535461425781
                    }
                },
                "velocity": {
                    "x": -0.6497446894645691,
                    "y": 4.045014381408691,
                    "z": 0.01511863712221384
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.124755859375,
                        "y": 3494.67919921875,
                        "z": 370.7235412597656
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.467529296875,
                        "y": 3351.44677734375,
                        "z": 369.6555480957031
                    },
                    "rotation": {
                        "roll": -2.6682798193178314e-08,
                        "pitch": 0.764168381690979,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.19059474766254425,
                "transform": {
                    "location": {
                        "x": 961.7185668945312,
                        "y": 3392.814697265625,
                        "z": 370.1310729980469
                    },
                    "rotation": {
                        "roll": -0.0005187967326492071,
                        "pitch": 0.341270387172699,
                        "yaw": 99.05789947509766
                    }
                },
                "velocity": {
                    "x": -0.02963816188275814,
                    "y": 0.18826551735401154,
                    "z": 0.0020078180823475122
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.020838499069214,
                "transform": {
                    "location": {
                        "x": 959.4442138671875,
                        "y": 3406.884521484375,
                        "z": 370.25836181640625
                    },
                    "rotation": {
                        "roll": 0.0015482254093512893,
                        "pitch": 0.33793726563453674,
                        "yaw": 99.76918029785156
                    }
                },
                "velocity": {
                    "x": -0.32062461972236633,
                    "y": 1.9951934814453125,
                    "z": 0.01381355244666338
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.015098571777344,
                "transform": {
                    "location": {
                        "x": 954.702392578125,
                        "y": 3436.434814453125,
                        "z": 370.4554138183594
                    },
                    "rotation": {
                        "roll": 0.001323198084719479,
                        "pitch": 0.3331014811992645,
                        "yaw": 98.97522735595703
                    }
                },
                "velocity": {
                    "x": -1.2716238498687744,
                    "y": 7.913431167602539,
                    "z": 0.0487605482339859
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162592887878418,
                "transform": {
                    "location": {
                        "x": 951.2840576171875,
                        "y": 3432.1396484375,
                        "z": 370.4205322265625
                    },
                    "rotation": {
                        "roll": 0.0010045976378023624,
                        "pitch": 0.5885232090950012,
                        "yaw": 99.13801574707031
                    }
                },
                "velocity": {
                    "x": -0.5022897124290466,
                    "y": 3.122377634048462,
                    "z": 0.021372193470597267
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1649680137634277,
                "transform": {
                    "location": {
                        "x": 952.9066772460938,
                        "y": 3422.059814453125,
                        "z": 370.3496398925781
                    },
                    "rotation": {
                        "roll": -0.00048827892169356346,
                        "pitch": 0.0813748687505722,
                        "yaw": 99.14269256591797
                    }
                },
                "velocity": {
                    "x": -0.5030282735824585,
                    "y": 3.124666929244995,
                    "z": 0.02102181315422058
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.998827338218689,
        "expert_target_speed": 8.342148209205295,
        "target_point": [
            20.998157293828804,
            1.6462474255483759
        ],
        "target_point_next": [
            71.9974937490685,
            1.3525262535335827
        ]
    },
    "325": {
        "acceleration": [
            0.02894878387451172,
            0.03086090087890625,
            -0.02588123083114624
        ],
        "angular_velocity": [
            -1.8680193424224854,
            -0.6404178142547607,
            -2.179635524749756
        ],
        "forward_vector": [
            -0.16942723095417023,
            0.9853838682174683,
            0.017691640183329582
        ],
        "right_vector": [
            -0.9855359196662903,
            -0.16946525871753693,
            0.0006619570776820183
        ],
        "location": [
            955.1754760742188,
            3424.560546875,
            370.37445068359375
        ],
        "rotation": [
            -0.037933286279439926,
            1.013709306716919,
            99.75605773925781
        ],
        "velocity": [
            -1.488810658454895,
            8.602264404296875,
            0.05711724981665611
        ],
        "speed": 8.730149486587385,
        "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": 13.883548736572266,
        "front_vehicle_info": {
            "id": 86172,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                954.3828735351562,
                3438.421142578125,
                370.46710205078125
            ],
            "velocity": [
                -1.2842156887054443,
                7.976334095001221,
                0.04528171569108963
            ],
            "speed_kmh": 29.085051674237718,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.258544921875,
                        "y": 3499.287353515625,
                        "z": 370.7795715332031
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": -0.19894291460514069,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.760269641876221,
                "transform": {
                    "location": {
                        "x": 957.7969360351562,
                        "y": 3459.2822265625,
                        "z": 370.56549072265625
                    },
                    "rotation": {
                        "roll": 3.920734889106825e-05,
                        "pitch": -0.2789244055747986,
                        "yaw": -80.81571960449219
                    }
                },
                "velocity": {
                    "x": 1.0776666402816772,
                    "y": -6.673754692077637,
                    "z": -0.029600143432617188
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.092013359069824,
                "transform": {
                    "location": {
                        "x": 954.9602661132812,
                        "y": 3456.444580078125,
                        "z": 370.5626220703125
                    },
                    "rotation": {
                        "roll": 0.0020084406714886427,
                        "pitch": -0.24554528295993805,
                        "yaw": -80.81712341308594
                    }
                },
                "velocity": {
                    "x": 1.2899709939956665,
                    "y": -7.9884490966796875,
                    "z": -0.03647097945213318
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.58430004119873,
                "transform": {
                    "location": {
                        "x": 971.3973999023438,
                        "y": 3374.79248046875,
                        "z": 369.92120361328125
                    },
                    "rotation": {
                        "roll": 4.261126014171168e-05,
                        "pitch": -0.6355559229850769,
                        "yaw": -80.8994369506836
                    }
                },
                "velocity": {
                    "x": 1.362353801727295,
                    "y": -8.47492504119873,
                    "z": -0.09920401126146317
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088644027709961,
                "transform": {
                    "location": {
                        "x": 968.9283447265625,
                        "y": 3369.6669921875,
                        "z": 369.8692932128906
                    },
                    "rotation": {
                        "roll": -0.00018309337610844523,
                        "pitch": -0.664242684841156,
                        "yaw": -80.85071563720703
                    }
                },
                "velocity": {
                    "x": 1.2860292196273804,
                    "y": -7.985223293304443,
                    "z": -0.09219018369913101
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.4014892578125,
                        "y": 3496.58544921875,
                        "z": 370.7498474121094
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": -0.19894291460514069,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.898803472518921,
                "transform": {
                    "location": {
                        "x": 966.18310546875,
                        "y": 3364.996826171875,
                        "z": 369.82611083984375
                    },
                    "rotation": {
                        "roll": -0.013458224013447762,
                        "pitch": 1.0650790929794312,
                        "yaw": 98.44108581542969
                    }
                },
                "velocity": {
                    "x": -0.4181338846683502,
                    "y": 2.868316888809204,
                    "z": 0.031372327357530594
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.576087236404419,
                "transform": {
                    "location": {
                        "x": 963.994140625,
                        "y": 3378.6142578125,
                        "z": 369.98297119140625
                    },
                    "rotation": {
                        "roll": 0.001460560248233378,
                        "pitch": 0.7562248706817627,
                        "yaw": 99.17100524902344
                    }
                },
                "velocity": {
                    "x": -0.40951669216156006,
                    "y": 2.5431816577911377,
                    "z": 0.02735993266105652
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023486137390137,
                "transform": {
                    "location": {
                        "x": 961.8045043945312,
                        "y": 3413.934326171875,
                        "z": 370.2981872558594
                    },
                    "rotation": {
                        "roll": -0.0015258401399478316,
                        "pitch": -0.41491347551345825,
                        "yaw": -80.85509490966797
                    }
                },
                "velocity": {
                    "x": 1.2751730680465698,
                    "y": -7.9213080406188965,
                    "z": -0.05609272047877312
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03039264678955,
                "transform": {
                    "location": {
                        "x": 964.673095703125,
                        "y": 3416.56396484375,
                        "z": 370.3515930175781
                    },
                    "rotation": {
                        "roll": -0.0001525755214970559,
                        "pitch": -0.38858309388160706,
                        "yaw": -80.84564208984375
                    }
                },
                "velocity": {
                    "x": 1.2758018970489502,
                    "y": -7.92822265625,
                    "z": -0.05313940346240997
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.183380126953125,
                "transform": {
                    "location": {
                        "x": 944.542724609375,
                        "y": 3479.003662109375,
                        "z": 370.66815185546875
                    },
                    "rotation": {
                        "roll": -0.0010070882271975279,
                        "pitch": 0.11830569803714752,
                        "yaw": 99.49090576171875
                    }
                },
                "velocity": {
                    "x": -0.8224682211875916,
                    "y": 5.1176533699035645,
                    "z": 0.024440821260213852
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.803955078125,
                        "y": 3496.671875,
                        "z": 370.7303771972656
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.2028198242188,
                        "y": 3353.092041015625,
                        "z": 369.67718505859375
                    },
                    "rotation": {
                        "roll": -2.6682590359428104e-08,
                        "pitch": 0.729996919631958,
                        "yaw": 99.14250183105469
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.031130313873291,
                "transform": {
                    "location": {
                        "x": 961.6989135742188,
                        "y": 3392.935791015625,
                        "z": 370.1325378417969
                    },
                    "rotation": {
                        "roll": -0.0011291156988590956,
                        "pitch": 0.5577942132949829,
                        "yaw": 99.09110260009766
                    }
                },
                "velocity": {
                    "x": -0.16399703919887543,
                    "y": 1.0179630517959595,
                    "z": 0.009271392598748207
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9202921390533447,
                "transform": {
                    "location": {
                        "x": 959.3443603515625,
                        "y": 3407.497314453125,
                        "z": 370.26287841796875
                    },
                    "rotation": {
                        "roll": 0.0006434759125113487,
                        "pitch": 0.3312300145626068,
                        "yaw": 99.59613037109375
                    }
                },
                "velocity": {
                    "x": -0.4626179039478302,
                    "y": 2.883333683013916,
                    "z": 0.021864289417862892
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.079181671142578,
                "transform": {
                    "location": {
                        "x": 954.3828735351562,
                        "y": 3438.421142578125,
                        "z": 370.46710205078125
                    },
                    "rotation": {
                        "roll": -0.0004577504878398031,
                        "pitch": 0.3338527977466583,
                        "yaw": 98.99401092529297
                    }
                },
                "velocity": {
                    "x": -1.2842156887054443,
                    "y": 7.976334095001221,
                    "z": 0.04528171569108963
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162738800048828,
                "transform": {
                    "location": {
                        "x": 951.1585083007812,
                        "y": 3432.919921875,
                        "z": 370.4256896972656
                    },
                    "rotation": {
                        "roll": 0.0008424522238783538,
                        "pitch": 0.588728129863739,
                        "yaw": 99.13935852050781
                    }
                },
                "velocity": {
                    "x": -0.5027530193328857,
                    "y": 3.122454881668091,
                    "z": 0.020776642486453056
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1649577617645264,
                "transform": {
                    "location": {
                        "x": 952.7809448242188,
                        "y": 3422.841064453125,
                        "z": 370.35498046875
                    },
                    "rotation": {
                        "roll": -0.0007934599416330457,
                        "pitch": 0.08147048950195312,
                        "yaw": 99.1426010131836
                    }
                },
                "velocity": {
                    "x": -0.5025909543037415,
                    "y": 3.124724864959717,
                    "z": 0.021321352571249008
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -1.0028032064437866,
        "expert_target_speed": 9.151560810361808,
        "target_point": [
            18.908643881292242,
            1.5412467561496825
        ],
        "target_point_next": [
            69.90590185333107,
            0.9951054420641157
        ]
    },
    "330": {
        "acceleration": [
            -0.670166015625,
            6.213569641113281,
            0.04289776086807251
        ],
        "angular_velocity": [
            0.30510231852531433,
            -0.3010190725326538,
            -1.7913109064102173
        ],
        "forward_vector": [
            -0.1660069227218628,
            0.9859418272972107,
            0.01898651197552681
        ],
        "right_vector": [
            -0.9861218333244324,
            -0.16602106392383575,
            -0.0008392128511331975
        ],
        "location": [
            954.7704467773438,
            3426.946533203125,
            370.3899841308594
        ],
        "rotation": [
            0.04809202998876572,
            1.0879124402999878,
            99.5574722290039
        ],
        "velocity": [
            -1.729065179824829,
            10.427973747253418,
            0.06890124827623367
        ],
        "speed": 10.570350177240542,
        "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": 13.47955322265625,
        "front_vehicle_info": {
            "id": 86172,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                954.0631713867188,
                3440.4072265625,
                370.4786682128906
            ],
            "velocity": [
                -1.271604299545288,
                7.912657260894775,
                0.04528981074690819
            ],
            "speed_kmh": 28.85151797957979,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.5895385742188,
                        "y": 3497.230224609375,
                        "z": 370.75103759765625
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": -0.19894291460514069,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.5271077156066895,
                "transform": {
                    "location": {
                        "x": 958.0799560546875,
                        "y": 3457.529296875,
                        "z": 370.5572814941406
                    },
                    "rotation": {
                        "roll": 0.00030274546588771045,
                        "pitch": -0.2404499650001526,
                        "yaw": -80.83287048339844
                    }
                },
                "velocity": {
                    "x": 1.19808030128479,
                    "y": -7.431072235107422,
                    "z": -0.03349044546484947
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.013298034667969,
                "transform": {
                    "location": {
                        "x": 955.281005859375,
                        "y": 3454.458740234375,
                        "z": 370.55303955078125
                    },
                    "rotation": {
                        "roll": 0.000559468986466527,
                        "pitch": -0.2895180284976959,
                        "yaw": -80.82706451416016
                    }
                },
                "velocity": {
                    "x": 1.2764899730682373,
                    "y": -7.91088342666626,
                    "z": -0.038040027022361755
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.448042869567871,
                "transform": {
                    "location": {
                        "x": 971.7415161132812,
                        "y": 3372.653076171875,
                        "z": 369.8962707519531
                    },
                    "rotation": {
                        "roll": 0.0015828940086066723,
                        "pitch": -0.6581706404685974,
                        "yaw": -80.94107818603516
                    }
                },
                "velocity": {
                    "x": 1.339351773262024,
                    "y": -8.340620994567871,
                    "z": -0.09801813960075378
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05408000946045,
                "transform": {
                    "location": {
                        "x": 969.2491455078125,
                        "y": 3367.67529296875,
                        "z": 369.8459167480469
                    },
                    "rotation": {
                        "roll": -0.00027466670144349337,
                        "pitch": -0.6629313230514526,
                        "yaw": -80.85062408447266
                    }
                },
                "velocity": {
                    "x": 1.2805707454681396,
                    "y": -7.951094150543213,
                    "z": -0.09193293005228043
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.643119812011719,
                "transform": {
                    "location": {
                        "x": 948.7154541015625,
                        "y": 3494.652099609375,
                        "z": 370.7237548828125
                    },
                    "rotation": {
                        "roll": -0.03182985261082649,
                        "pitch": -0.5083914399147034,
                        "yaw": -80.75011444091797
                    }
                },
                "velocity": {
                    "x": 1.1026171445846558,
                    "y": -6.550716400146484,
                    "z": -0.058281488716602325
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.7150423526763916,
                "transform": {
                    "location": {
                        "x": 966.0564575195312,
                        "y": 3365.7958984375,
                        "z": 369.8382873535156
                    },
                    "rotation": {
                        "roll": -0.0015868927584961057,
                        "pitch": 0.7273194789886475,
                        "yaw": 98.55003356933594
                    }
                },
                "velocity": {
                    "x": -0.5904191136360168,
                    "y": 3.667572259902954,
                    "z": 0.04311515763401985
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.132038593292236,
                "transform": {
                    "location": {
                        "x": 963.859375,
                        "y": 3379.4501953125,
                        "z": 369.9923400878906
                    },
                    "rotation": {
                        "roll": 0.0014707340160384774,
                        "pitch": 0.8512532711029053,
                        "yaw": 99.1666488647461
                    }
                },
                "velocity": {
                    "x": -0.6568713784217834,
                    "y": 4.079242706298828,
                    "z": 0.04517455771565437
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.040083885192871,
                "transform": {
                    "location": {
                        "x": 962.1234741210938,
                        "y": 3411.951904296875,
                        "z": 370.28375244140625
                    },
                    "rotation": {
                        "roll": -0.00036619920865632594,
                        "pitch": -0.43094393610954285,
                        "yaw": -80.85770416259766
                    }
                },
                "velocity": {
                    "x": 1.2774556875228882,
                    "y": -7.937729358673096,
                    "z": -0.05926693230867386
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031390190124512,
                "transform": {
                    "location": {
                        "x": 964.9921875,
                        "y": 3414.581787109375,
                        "z": 370.3375244140625
                    },
                    "rotation": {
                        "roll": 0.0013666864251717925,
                        "pitch": -0.41024163365364075,
                        "yaw": -80.8714370727539
                    }
                },
                "velocity": {
                    "x": 1.2759535312652588,
                    "y": -7.9291863441467285,
                    "z": -0.056415677070617676
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.524150371551514,
                "transform": {
                    "location": {
                        "x": 944.3296508789062,
                        "y": 3480.318359375,
                        "z": 370.6732482910156
                    },
                    "rotation": {
                        "roll": -0.0004882805806118995,
                        "pitch": 0.1697096973657608,
                        "yaw": 99.27914428710938
                    }
                },
                "velocity": {
                    "x": -0.8767430186271667,
                    "y": 5.454086780548096,
                    "z": 0.022247275337576866
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.4732055664062,
                        "y": 3498.72802734375,
                        "z": 370.73736572265625
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.8058471679688,
                        "y": 3355.5595703125,
                        "z": 369.709716796875
                    },
                    "rotation": {
                        "roll": -2.6682590359428104e-08,
                        "pitch": 0.729996919631958,
                        "yaw": 99.14250183105469
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8458967208862305,
                "transform": {
                    "location": {
                        "x": 961.6403198242188,
                        "y": 3393.29833984375,
                        "z": 370.1363525390625
                    },
                    "rotation": {
                        "roll": -0.0003662403323687613,
                        "pitch": 0.6673709154129028,
                        "yaw": 99.13684844970703
                    }
                },
                "velocity": {
                    "x": -0.29444456100463867,
                    "y": 1.8221714496612549,
                    "z": 0.01812397874891758
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9803390502929688,
                "transform": {
                    "location": {
                        "x": 959.206298828125,
                        "y": 3408.348876953125,
                        "z": 370.2693786621094
                    },
                    "rotation": {
                        "roll": 6.782267155358568e-05,
                        "pitch": 0.3153703212738037,
                        "yaw": 99.43165588378906
                    }
                },
                "velocity": {
                    "x": -0.6307523846626282,
                    "y": 3.929936408996582,
                    "z": 0.029167288914322853
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.014310836791992,
                "transform": {
                    "location": {
                        "x": 954.0631713867188,
                        "y": 3440.4072265625,
                        "z": 370.4786682128906
                    },
                    "rotation": {
                        "roll": 0.0018891394138336182,
                        "pitch": 0.33319708704948425,
                        "yaw": 98.98316955566406
                    }
                },
                "velocity": {
                    "x": -1.271604299545288,
                    "y": 7.912657260894775,
                    "z": 0.04528981074690819
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1627888679504395,
                "transform": {
                    "location": {
                        "x": 951.032958984375,
                        "y": 3433.699951171875,
                        "z": 370.43072509765625
                    },
                    "rotation": {
                        "roll": 0.001460056402720511,
                        "pitch": 0.5877718925476074,
                        "yaw": 99.13785552978516
                    }
                },
                "velocity": {
                    "x": -0.5022240281105042,
                    "y": 3.1225836277008057,
                    "z": 0.021809758618474007
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.164851665496826,
                "transform": {
                    "location": {
                        "x": 952.6552124023438,
                        "y": 3423.622314453125,
                        "z": 370.3603515625
                    },
                    "rotation": {
                        "roll": 0.0010444963118061423,
                        "pitch": 0.0816480740904808,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": -0.5028791427612305,
                    "y": 3.124572277069092,
                    "z": 0.021116284653544426
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9002749919891357,
        "expert_target_speed": 10.0,
        "target_point": [
            16.4830721291838,
            1.6035135990277878
        ],
        "target_point_next": [
            67.48191640000096,
            1.2340896656244684
        ]
    },
    "335": {
        "acceleration": [
            -0.3083467483520508,
            4.710121154785156,
            0.047950297594070435
        ],
        "angular_velocity": [
            -0.3971610963344574,
            -0.20313173532485962,
            -2.296865224838257
        ],
        "forward_vector": [
            -0.15696176886558533,
            0.9874419569969177,
            0.017927875742316246
        ],
        "right_vector": [
            -0.9876042008399963,
            -0.1569538563489914,
            -0.0018566800281405449
        ],
        "location": [
            954.3214111328125,
            3429.724609375,
            370.4083251953125
        ],
        "rotation": [
            0.10639708489179611,
            1.0272467136383057,
            99.03205108642578
        ],
        "velocity": [
            -1.836072325706482,
            11.703357696533203,
            0.07646306604146957
        ],
        "speed": 11.84650762707002,
        "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": 12.682369232177734,
        "front_vehicle_info": {
            "id": 86172,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                953.7438354492188,
                3442.3935546875,
                370.4902648925781
            ],
            "velocity": [
                -1.283258080482483,
                7.976914405822754,
                0.04612157866358757
            ],
            "speed_kmh": 29.086583565777904,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.626187324523926,
                "transform": {
                    "location": {
                        "x": 951.882568359375,
                        "y": 3495.461181640625,
                        "z": 370.7258605957031
                    },
                    "rotation": {
                        "roll": 0.02086956426501274,
                        "pitch": -0.06946302205324173,
                        "yaw": -80.57622528076172
                    }
                },
                "velocity": {
                    "x": 1.1459532976150513,
                    "y": -6.526091575622559,
                    "z": -0.0572630874812603
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.562006950378418,
                "transform": {
                    "location": {
                        "x": 958.3934936523438,
                        "y": 3455.584716796875,
                        "z": 370.5480041503906
                    },
                    "rotation": {
                        "roll": 0.0006180174532346427,
                        "pitch": -0.23950056731700897,
                        "yaw": -80.85038757324219
                    }
                },
                "velocity": {
                    "x": 1.3618624210357666,
                    "y": -8.452899932861328,
                    "z": -0.04219312593340874
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.048068046569824,
                "transform": {
                    "location": {
                        "x": 955.6005859375,
                        "y": 3452.478271484375,
                        "z": 370.5432434082031
                    },
                    "rotation": {
                        "roll": 5.108035111334175e-05,
                        "pitch": -0.29486608505249023,
                        "yaw": -80.83204650878906
                    }
                },
                "velocity": {
                    "x": 1.2822768688201904,
                    "y": -7.945153713226318,
                    "z": -0.04107923060655594
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.104238510131836,
                "transform": {
                    "location": {
                        "x": 972.0680541992188,
                        "y": 3370.6171875,
                        "z": 369.87261962890625
                    },
                    "rotation": {
                        "roll": 0.0012004622258245945,
                        "pitch": -0.6747748255729675,
                        "yaw": -80.89305114746094
                    }
                },
                "velocity": {
                    "x": 1.2855088710784912,
                    "y": -8.001067161560059,
                    "z": -0.09529461711645126
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.088520050048828,
                "transform": {
                    "location": {
                        "x": 969.5698852539062,
                        "y": 3365.68310546875,
                        "z": 369.82220458984375
                    },
                    "rotation": {
                        "roll": -0.001190190901979804,
                        "pitch": -0.680293619632721,
                        "yaw": -80.85325622558594
                    }
                },
                "velocity": {
                    "x": 1.2856292724609375,
                    "y": -7.985116004943848,
                    "z": -0.09615667164325714
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.853413105010986,
                "transform": {
                    "location": {
                        "x": 948.9984130859375,
                        "y": 3492.985595703125,
                        "z": 370.71478271484375
                    },
                    "rotation": {
                        "roll": -0.016174325719475746,
                        "pitch": -0.3016621172428131,
                        "yaw": -80.42495727539062
                    }
                },
                "velocity": {
                    "x": 1.1478958129882812,
                    "y": -6.75653600692749,
                    "z": -0.028754953294992447
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.813186168670654,
                "transform": {
                    "location": {
                        "x": 965.887939453125,
                        "y": 3366.855224609375,
                        "z": 369.8521728515625
                    },
                    "rotation": {
                        "roll": -0.0015869225608184934,
                        "pitch": 0.5667280554771423,
                        "yaw": 98.79634857177734
                    }
                },
                "velocity": {
                    "x": -0.7653154730796814,
                    "y": 4.751619338989258,
                    "z": 0.05625048652291298
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.4296464920043945,
                "transform": {
                    "location": {
                        "x": 963.6666259765625,
                        "y": 3380.646240234375,
                        "z": 370.005859375
                    },
                    "rotation": {
                        "roll": 0.001482953317463398,
                        "pitch": 0.8468614220619202,
                        "yaw": 99.17269897460938
                    }
                },
                "velocity": {
                    "x": -0.862985372543335,
                    "y": 5.360289573669434,
                    "z": 0.060111481696367264
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023093223571777,
                "transform": {
                    "location": {
                        "x": 962.4425048828125,
                        "y": 3409.9697265625,
                        "z": 370.26885986328125
                    },
                    "rotation": {
                        "roll": -0.0014037902001291513,
                        "pitch": -0.4302062690258026,
                        "yaw": -80.85780334472656
                    }
                },
                "velocity": {
                    "x": 1.2746483087539673,
                    "y": -7.92096471786499,
                    "z": -0.06014018878340721
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03215503692627,
                "transform": {
                    "location": {
                        "x": 965.3111572265625,
                        "y": 3412.599365234375,
                        "z": 370.3231201171875
                    },
                    "rotation": {
                        "roll": 0.00037997981416992843,
                        "pitch": -0.42681849002838135,
                        "yaw": -80.84152221679688
                    }
                },
                "velocity": {
                    "x": 1.27672278881073,
                    "y": -7.929818153381348,
                    "z": -0.05892530828714371
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.47947359085083,
                "transform": {
                    "location": {
                        "x": 944.094482421875,
                        "y": 3481.778564453125,
                        "z": 370.6791076660156
                    },
                    "rotation": {
                        "roll": -0.0014038028893992305,
                        "pitch": 0.16170471906661987,
                        "yaw": 99.17070007324219
                    }
                },
                "velocity": {
                    "x": -1.0243908166885376,
                    "y": 6.397932529449463,
                    "z": 0.025689134374260902
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 941.1422729492188,
                        "y": 3500.78466796875,
                        "z": 370.743896484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.541015625,
                        "y": 3357.20458984375,
                        "z": 369.73065185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6958186626434326,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.193375825881958,
                "transform": {
                    "location": {
                        "x": 961.5411376953125,
                        "y": 3393.9111328125,
                        "z": 370.14215087890625
                    },
                    "rotation": {
                        "roll": -0.0003051692037843168,
                        "pitch": 0.7359801530838013,
                        "yaw": 99.1583251953125
                    }
                },
                "velocity": {
                    "x": -0.5101532340049744,
                    "y": 3.1522207260131836,
                    "z": 0.029946908354759216
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.0690178871154785,
                "transform": {
                    "location": {
                        "x": 959.0247192382812,
                        "y": 3409.47314453125,
                        "z": 370.27789306640625
                    },
                    "rotation": {
                        "roll": 0.0001521206577308476,
                        "pitch": 0.30931875109672546,
                        "yaw": 99.29486083984375
                    }
                },
                "velocity": {
                    "x": -0.8028380274772644,
                    "y": 5.004861831665039,
                    "z": 0.0418521985411644
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.079607009887695,
                "transform": {
                    "location": {
                        "x": 953.7438354492188,
                        "y": 3442.3935546875,
                        "z": 370.4902648925781
                    },
                    "rotation": {
                        "roll": -3.052292959182523e-05,
                        "pitch": 0.33586087822914124,
                        "yaw": 98.98896789550781
                    }
                },
                "velocity": {
                    "x": -1.283258080482483,
                    "y": 7.976914405822754,
                    "z": 0.04612157866358757
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162614583969116,
                "transform": {
                    "location": {
                        "x": 950.9074096679688,
                        "y": 3434.480224609375,
                        "z": 370.4356689453125
                    },
                    "rotation": {
                        "roll": -0.001983653986826539,
                        "pitch": 0.568681538105011,
                        "yaw": 99.13813018798828
                    }
                },
                "velocity": {
                    "x": -0.5021604895591736,
                    "y": 3.1224236488342285,
                    "z": 0.02087753266096115
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650736331939697,
                "transform": {
                    "location": {
                        "x": 952.5294799804688,
                        "y": 3424.403564453125,
                        "z": 370.36572265625
                    },
                    "rotation": {
                        "roll": -0.00036620922037400305,
                        "pitch": 0.08248818665742874,
                        "yaw": 99.1419448852539
                    }
                },
                "velocity": {
                    "x": -0.5026378631591797,
                    "y": 3.1248393058776855,
                    "z": 0.020624790340662003
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.8123294711112976,
        "expert_target_speed": 10.0,
        "target_point": [
            13.653552770901056,
            1.7472461987402021
        ],
        "target_point_next": [
            64.65364042635899,
            1.845481310780352
        ]
    },
    "340": {
        "acceleration": [
            -0.08627176284790039,
            4.0691375732421875,
            0.029973238706588745
        ],
        "angular_velocity": [
            -0.3382869064807892,
            -0.17622685432434082,
            -2.4277396202087402
        ],
        "forward_vector": [
            -0.14685717225074768,
            0.9890226721763611,
            0.016345249488949776
        ],
        "right_vector": [
            -0.9891577363014221,
            -0.1468348652124405,
            -0.00256339181214571
        ],
        "location": [
            953.8538208007812,
            3432.794921875,
            370.4286193847656
        ],
        "rotation": [
            0.14689131081104279,
            0.9365555047988892,
            98.44597625732422
        ],
        "velocity": [
            -1.8812274932861328,
            12.797332763671875,
            0.0827590748667717
        ],
        "speed": 12.934865393410371,
        "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": 11.592673301696777,
        "front_vehicle_info": {
            "id": 86172,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                953.4240112304688,
                3444.37939453125,
                370.5015869140625
            ],
            "velocity": [
                -1.2751580476760864,
                7.912198543548584,
                0.04461817815899849
            ],
            "speed_kmh": 28.851906763452625,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.697590351104736,
                "transform": {
                    "location": {
                        "x": 952.165283203125,
                        "y": 3493.81982421875,
                        "z": 370.7181701660156
                    },
                    "rotation": {
                        "roll": -0.005310053937137127,
                        "pitch": -0.18985192477703094,
                        "yaw": -80.32978057861328
                    }
                },
                "velocity": {
                    "x": 1.12100088596344,
                    "y": -6.603062152862549,
                    "z": -0.0253647081553936
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.417651176452637,
                "transform": {
                    "location": {
                        "x": 958.7377319335938,
                        "y": 3453.447509765625,
                        "z": 370.5377197265625
                    },
                    "rotation": {
                        "roll": 0.0015137467999011278,
                        "pitch": -0.29168322682380676,
                        "yaw": -80.8582763671875
                    }
                },
                "velocity": {
                    "x": 1.3370836973190308,
                    "y": -8.3106689453125,
                    "z": -0.04299644008278847
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05212688446045,
                "transform": {
                    "location": {
                        "x": 955.9212036132812,
                        "y": 3450.4892578125,
                        "z": 370.5328063964844
                    },
                    "rotation": {
                        "roll": 0.0014915355714038014,
                        "pitch": -0.29534420371055603,
                        "yaw": -80.84291076660156
                    }
                },
                "velocity": {
                    "x": 1.280205488204956,
                    "y": -7.949603080749512,
                    "z": -0.040440067648887634
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.105696201324463,
                "transform": {
                    "location": {
                        "x": 972.3776245117188,
                        "y": 3368.68994140625,
                        "z": 369.85009765625
                    },
                    "rotation": {
                        "roll": 0.0010430142283439636,
                        "pitch": -0.69329833984375,
                        "yaw": -80.89048767089844
                    }
                },
                "velocity": {
                    "x": 1.126600980758667,
                    "y": -7.015328884124756,
                    "z": -0.08276145905256271
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.055181503295898,
                "transform": {
                    "location": {
                        "x": 969.890625,
                        "y": 3363.691162109375,
                        "z": 369.79815673828125
                    },
                    "rotation": {
                        "roll": -0.00018312134488951415,
                        "pitch": -0.6981204152107239,
                        "yaw": -80.8534927368164
                    }
                },
                "velocity": {
                    "x": 1.280379295349121,
                    "y": -7.952178001403809,
                    "z": -0.09716671705245972
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.641613960266113,
                "transform": {
                    "location": {
                        "x": 949.2813720703125,
                        "y": 3491.3232421875,
                        "z": 370.7082824707031
                    },
                    "rotation": {
                        "roll": -0.008666995912790298,
                        "pitch": -0.23516340553760529,
                        "yaw": -80.3473892211914
                    }
                },
                "velocity": {
                    "x": 1.116599678993225,
                    "y": -6.547031879425049,
                    "z": -0.02481754682958126
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.361593246459961,
                "transform": {
                    "location": {
                        "x": 965.6837768554688,
                        "y": 3368.13232421875,
                        "z": 369.86724853515625
                    },
                    "rotation": {
                        "roll": 0.0004536987980827689,
                        "pitch": 0.5996154546737671,
                        "yaw": 98.97498321533203
                    }
                },
                "velocity": {
                    "x": -0.85301673412323,
                    "y": 5.292946815490723,
                    "z": 0.06130877509713173
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.832714080810547,
                "transform": {
                    "location": {
                        "x": 963.4440307617188,
                        "y": 3382.037109375,
                        "z": 370.0211181640625
                    },
                    "rotation": {
                        "roll": 0.0024009656626731157,
                        "pitch": 0.753670334815979,
                        "yaw": 98.85121154785156
                    }
                },
                "velocity": {
                    "x": -0.9189644455909729,
                    "y": 5.759511470794678,
                    "z": 0.06392686814069748
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038878440856934,
                "transform": {
                    "location": {
                        "x": 962.761474609375,
                        "y": 3407.987060546875,
                        "z": 370.2540283203125
                    },
                    "rotation": {
                        "roll": 0.00011877123324666172,
                        "pitch": -0.42849189043045044,
                        "yaw": -80.85783386230469
                    }
                },
                "velocity": {
                    "x": 1.2772130966186523,
                    "y": -7.936537742614746,
                    "z": -0.06052907928824425
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031615257263184,
                "transform": {
                    "location": {
                        "x": 965.6303100585938,
                        "y": 3410.6171875,
                        "z": 370.3082275390625
                    },
                    "rotation": {
                        "roll": 0.0005815025069750845,
                        "pitch": -0.4251382648944855,
                        "yaw": -80.87205505371094
                    }
                },
                "velocity": {
                    "x": 1.2758285999298096,
                    "y": -7.929403305053711,
                    "z": -0.060551948845386505
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.932709693908691,
                "transform": {
                    "location": {
                        "x": 943.8034057617188,
                        "y": 3483.59326171875,
                        "z": 370.68701171875
                    },
                    "rotation": {
                        "roll": -0.00085449154721573,
                        "pitch": 0.08350589126348495,
                        "yaw": 99.13159942626953
                    }
                },
                "velocity": {
                    "x": -1.254102349281311,
                    "y": 7.832888603210449,
                    "z": 0.0310316551476717
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 940.811279296875,
                        "y": 3502.8408203125,
                        "z": 370.75042724609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.17399905622005463,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.4085693359375,
                        "y": 3358.02734375,
                        "z": 369.740966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6958186626434326,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.724356651306152,
                "transform": {
                    "location": {
                        "x": 961.3800659179688,
                        "y": 3394.905029296875,
                        "z": 370.1515197753906
                    },
                    "rotation": {
                        "roll": -0.0002746188547462225,
                        "pitch": 0.7563477754592896,
                        "yaw": 99.18760681152344
                    }
                },
                "velocity": {
                    "x": -0.7557874321937561,
                    "y": 4.6633219718933105,
                    "z": 0.04192984476685524
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.548271179199219,
                "transform": {
                    "location": {
                        "x": 958.8150634765625,
                        "y": 3410.775146484375,
                        "z": 370.28729248046875
                    },
                    "rotation": {
                        "roll": 0.0013027654495090246,
                        "pitch": 0.36835891008377075,
                        "yaw": 99.23229217529297
                    }
                },
                "velocity": {
                    "x": -0.881142258644104,
                    "y": 5.477702617645264,
                    "z": 0.040939901024103165
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.014418601989746,
                "transform": {
                    "location": {
                        "x": 953.4240112304688,
                        "y": 3444.37939453125,
                        "z": 370.5015869140625
                    },
                    "rotation": {
                        "roll": -0.0028381345327943563,
                        "pitch": 0.32077983021736145,
                        "yaw": 98.99044799804688
                    }
                },
                "velocity": {
                    "x": -1.2751580476760864,
                    "y": 7.912198543548584,
                    "z": 0.04461817815899849
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1623306274414062,
                "transform": {
                    "location": {
                        "x": 950.7818603515625,
                        "y": 3435.260498046875,
                        "z": 370.44049072265625
                    },
                    "rotation": {
                        "roll": 0.0018146188231185079,
                        "pitch": 0.5484436750411987,
                        "yaw": 99.13841247558594
                    }
                },
                "velocity": {
                    "x": -0.5023218393325806,
                    "y": 3.122124671936035,
                    "z": 0.01859414018690586
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1652119159698486,
                "transform": {
                    "location": {
                        "x": 952.4037475585938,
                        "y": 3425.184814453125,
                        "z": 370.3709411621094
                    },
                    "rotation": {
                        "roll": 0.0023309935349971056,
                        "pitch": 0.06638943403959274,
                        "yaw": 99.14282989501953
                    }
                },
                "velocity": {
                    "x": -0.5029546022415161,
                    "y": 3.1249191761016846,
                    "z": 0.022007521241903305
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.7198017239570618,
        "expert_target_speed": 0,
        "target_point": [
            10.52927349289277,
            1.8752557430506185
        ],
        "target_point_next": [
            61.52568814171151,
            2.4951621612903896
        ]
    },
    "345": {
        "acceleration": [
            -0.1058650016784668,
            3.3675765991210938,
            -0.0006145238876342773
        ],
        "angular_velocity": [
            -0.5329613089561462,
            0.0031402730382978916,
            -1.4841346740722656
        ],
        "forward_vector": [
            -0.13882675766944885,
            0.9902141094207764,
            0.014257661998271942
        ],
        "right_vector": [
            -0.9903165698051453,
            -0.13880588114261627,
            -0.0024484526365995407
        ],
        "location": [
            953.3772583007812,
            3436.11279296875,
            370.4497985839844
        ],
        "rotation": [
            0.14030040800571442,
            0.8169315457344055,
            97.98078155517578
        ],
        "velocity": [
            -1.9155515432357788,
            13.694710731506348,
            0.08378604799509048
        ],
        "speed": 13.828030942054912,
        "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": 10.256511688232422,
        "front_vehicle_info": {
            "id": 86172,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                953.104248046875,
                3446.365478515625,
                370.5125732421875
            ],
            "velocity": [
                -1.2834004163742065,
                7.977212905883789,
                0.04300469160079956
            ],
            "speed_kmh": 29.0876640080207,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.612447738647461,
                "transform": {
                    "location": {
                        "x": 952.4435424804688,
                        "y": 3492.18017578125,
                        "z": 370.7123718261719
                    },
                    "rotation": {
                        "roll": -0.002777096349745989,
                        "pitch": -0.2048032134771347,
                        "yaw": -80.35826110839844
                    }
                },
                "velocity": {
                    "x": 1.105063557624817,
                    "y": -6.5194091796875,
                    "z": -0.024664349853992462
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.10275650024414,
                "transform": {
                    "location": {
                        "x": 959.0647583007812,
                        "y": 3451.4150390625,
                        "z": 370.5271301269531
                    },
                    "rotation": {
                        "roll": 8.311071724165231e-06,
                        "pitch": -0.3068530559539795,
                        "yaw": -80.86296844482422
                    }
                },
                "velocity": {
                    "x": 1.286991834640503,
                    "y": -7.999788761138916,
                    "z": -0.04115622118115425
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03116226196289,
                "transform": {
                    "location": {
                        "x": 956.2407836914062,
                        "y": 3448.505859375,
                        "z": 370.5224609375
                    },
                    "rotation": {
                        "roll": 0.0011586265172809362,
                        "pitch": -0.2990051805973053,
                        "yaw": -80.85060119628906
                    }
                },
                "velocity": {
                    "x": 1.2769604921340942,
                    "y": -7.928892135620117,
                    "z": -0.0402141697704792
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.606689453125,
                        "y": 3366.91455078125,
                        "z": 369.8332824707031
                    },
                    "rotation": {
                        "roll": -2.6682208442707633e-08,
                        "pitch": -0.6625351309776306,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86208,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 970.141357421875,
                        "y": 3361.622802734375,
                        "z": 369.7781982421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6958323121070862,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.58352518081665,
                "transform": {
                    "location": {
                        "x": 949.528564453125,
                        "y": 3489.87548828125,
                        "z": 370.702880859375
                    },
                    "rotation": {
                        "roll": -0.0048828283324837685,
                        "pitch": -0.36154237389564514,
                        "yaw": -80.31932067871094
                    }
                },
                "velocity": {
                    "x": 0.9403499960899353,
                    "y": -5.503734588623047,
                    "z": -0.020030273124575615
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.650877475738525,
                "transform": {
                    "location": {
                        "x": 965.4609375,
                        "y": 3369.5234375,
                        "z": 369.88330078125
                    },
                    "rotation": {
                        "roll": 0.0007647316087968647,
                        "pitch": 0.6142388582229614,
                        "yaw": 99.1351547241211
                    }
                },
                "velocity": {
                    "x": -0.8999505639076233,
                    "y": 5.578375816345215,
                    "z": 0.06500999629497528
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.2829746901988983,
                "transform": {
                    "location": {
                        "x": 963.3074951171875,
                        "y": 3382.893310546875,
                        "z": 370.0293273925781
                    },
                    "rotation": {
                        "roll": 0.01466754823923111,
                        "pitch": -0.005436830222606659,
                        "yaw": 98.32437133789062
                    }
                },
                "velocity": {
                    "x": -0.04716667905449867,
                    "y": 0.2790001630783081,
                    "z": 0.002979926997795701
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025373458862305,
                "transform": {
                    "location": {
                        "x": 963.0805053710938,
                        "y": 3406.004638671875,
                        "z": 370.2390441894531
                    },
                    "rotation": {
                        "roll": 6.887747440487146e-05,
                        "pitch": -0.4313947260379791,
                        "yaw": -80.85796356201172
                    }
                },
                "velocity": {
                    "x": 1.2751376628875732,
                    "y": -7.923176288604736,
                    "z": -0.0626470148563385
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031558990478516,
                "transform": {
                    "location": {
                        "x": 965.9490356445312,
                        "y": 3408.634521484375,
                        "z": 370.29339599609375
                    },
                    "rotation": {
                        "roll": -0.0005798347992822528,
                        "pitch": -0.42278867959976196,
                        "yaw": -80.84700012207031
                    }
                },
                "velocity": {
                    "x": 1.2757298946380615,
                    "y": -7.9293718338012695,
                    "z": -0.05923881381750107
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.238038063049316,
                "transform": {
                    "location": {
                        "x": 943.47802734375,
                        "y": 3485.620849609375,
                        "z": 370.6942443847656
                    },
                    "rotation": {
                        "roll": -0.00036620389437302947,
                        "pitch": 0.17579540610313416,
                        "yaw": 99.11613464355469
                    }
                },
                "velocity": {
                    "x": -1.3050172328948975,
                    "y": 8.133952140808105,
                    "z": 0.03189374879002571
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 940.4803466796875,
                        "y": 3504.897216796875,
                        "z": 370.7566223144531
                    },
                    "rotation": {
                        "roll": 6.67013333455202e-09,
                        "pitch": 0.16154763102531433,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 967.1438598632812,
                        "y": 3359.67236328125,
                        "z": 369.7616271972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6958186626434326,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.37177038192749,
                "transform": {
                    "location": {
                        "x": 961.1710815429688,
                        "y": 3396.1943359375,
                        "z": 370.1637268066406
                    },
                    "rotation": {
                        "roll": 0.0006313491612672806,
                        "pitch": 0.6198874711990356,
                        "yaw": 99.22491455078125
                    }
                },
                "velocity": {
                    "x": -0.8593658208847046,
                    "y": 5.302363395690918,
                    "z": 0.048447635024785995
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.042448043823242,
                "transform": {
                    "location": {
                        "x": 958.5867919921875,
                        "y": 3412.195556640625,
                        "z": 370.2977294921875
                    },
                    "rotation": {
                        "roll": -0.00039673325954936445,
                        "pitch": 0.37889790534973145,
                        "yaw": 99.21636962890625
                    }
                },
                "velocity": {
                    "x": -0.9551577568054199,
                    "y": 5.966313362121582,
                    "z": 0.04424293339252472
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.079906463623047,
                "transform": {
                    "location": {
                        "x": 953.104248046875,
                        "y": 3446.365478515625,
                        "z": 370.5125732421875
                    },
                    "rotation": {
                        "roll": -0.0001526007108623162,
                        "pitch": 0.29496854543685913,
                        "yaw": 98.99647521972656
                    }
                },
                "velocity": {
                    "x": -1.2834004163742065,
                    "y": 7.977212905883789,
                    "z": 0.04300469160079956
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162680149078369,
                "transform": {
                    "location": {
                        "x": 950.65625,
                        "y": 3436.04052734375,
                        "z": 370.4449768066406
                    },
                    "rotation": {
                        "roll": -0.0001525923580629751,
                        "pitch": 0.5494340658187866,
                        "yaw": 99.13815307617188
                    }
                },
                "velocity": {
                    "x": -0.5023182034492493,
                    "y": 3.1224844455718994,
                    "z": 0.017691468819975853
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165053606033325,
                "transform": {
                    "location": {
                        "x": 952.2780151367188,
                        "y": 3425.966064453125,
                        "z": 370.37603759765625
                    },
                    "rotation": {
                        "roll": -0.0001220696940436028,
                        "pitch": 0.0623118132352829,
                        "yaw": 99.14297485351562
                    }
                },
                "velocity": {
                    "x": -0.5029062628746033,
                    "y": 3.124776601791382,
                    "z": 0.0205189511179924
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.6413414478302002,
        "expert_target_speed": 0,
        "target_point": [
            58.15149769496801,
            2.9833467708865067
        ],
        "target_point_next": [
            109.14095621420039,
            4.017331729776146
        ]
    },
    "350": {
        "acceleration": [
            -0.9357142448425293,
            2.8588485717773438,
            0.00809788703918457
        ],
        "angular_velocity": [
            -0.33377406001091003,
            0.7097018361091614,
            1.81230628490448
        ],
        "forward_vector": [
            -0.13787786662578583,
            0.9903656840324402,
            0.012863876298069954
        ],
        "right_vector": [
            -0.9904485940933228,
            -0.1378808617591858,
            -0.0006582685164175928
        ],
        "location": [
            952.8854370117188,
            3439.638916015625,
            370.47076416015625
        ],
        "rotation": [
            0.037719134241342545,
            0.7370661497116089,
            97.92572784423828
        ],
        "velocity": [
            -2.0436513423919678,
            14.46799373626709,
            0.08407892286777496
        ],
        "speed": 14.61161707553015,
        "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": 8.713382720947266,
        "front_vehicle_info": {
            "id": 86172,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                952.784912109375,
                3448.3515625,
                370.5228576660156
            ],
            "velocity": [
                -1.2731692790985107,
                7.912046432495117,
                0.04006040468811989
            ],
            "speed_kmh": 28.850141161629107,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.215991020202637,
                "transform": {
                    "location": {
                        "x": 952.7154541015625,
                        "y": 3490.5771484375,
                        "z": 370.70611572265625
                    },
                    "rotation": {
                        "roll": -0.0022888232488185167,
                        "pitch": -0.1653452068567276,
                        "yaw": -80.36908721923828
                    }
                },
                "velocity": {
                    "x": 1.0376513004302979,
                    "y": -6.128730297088623,
                    "z": -0.02198186330497265
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.108865261077881,
                "transform": {
                    "location": {
                        "x": 959.3735961914062,
                        "y": 3449.4951171875,
                        "z": 370.5174255371094
                    },
                    "rotation": {
                        "roll": 0.00013204354036133736,
                        "pitch": -0.32473450899124146,
                        "yaw": -80.85912322998047
                    }
                },
                "velocity": {
                    "x": 1.1287826299667358,
                    "y": -7.018579959869385,
                    "z": -0.03674214705824852
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05122184753418,
                "transform": {
                    "location": {
                        "x": 956.560302734375,
                        "y": 3446.520751953125,
                        "z": 370.5121154785156
                    },
                    "rotation": {
                        "roll": -0.00030516143306158483,
                        "pitch": -0.29513245820999146,
                        "yaw": -80.85417175292969
                    }
                },
                "velocity": {
                    "x": 1.27950119972229,
                    "y": -7.948790550231934,
                    "z": -0.0421137809753418
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86209,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 972.9227905273438,
                        "y": 3364.855224609375,
                        "z": 369.80975341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.6958323121070862,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.794741630554199,
                "transform": {
                    "location": {
                        "x": 949.7666015625,
                        "y": 3488.46875,
                        "z": 370.69769287109375
                    },
                    "rotation": {
                        "roll": 0.0075298030860722065,
                        "pitch": -0.2155197709798813,
                        "yaw": -80.39495086669922
                    }
                },
                "velocity": {
                    "x": 0.9572322368621826,
                    "y": -5.715090751647949,
                    "z": -0.021792611107230186
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.400562763214111,
                "transform": {
                    "location": {
                        "x": 965.1957397460938,
                        "y": 3371.168701171875,
                        "z": 369.9033203125
                    },
                    "rotation": {
                        "roll": 0.0009361204574815929,
                        "pitch": 0.5147503614425659,
                        "yaw": 99.1695556640625
                    }
                },
                "velocity": {
                    "x": -1.1784286499023438,
                    "y": 7.305638790130615,
                    "z": 0.08530466258525848
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.664873480796814,
                "transform": {
                    "location": {
                        "x": 963.275146484375,
                        "y": 3383.099609375,
                        "z": 370.0324401855469
                    },
                    "rotation": {
                        "roll": -0.005493137054145336,
                        "pitch": 0.576249361038208,
                        "yaw": 98.41184997558594
                    }
                },
                "velocity": {
                    "x": -0.25911104679107666,
                    "y": 1.6444835662841797,
                    "z": 0.018412208184599876
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03940486907959,
                "transform": {
                    "location": {
                        "x": 963.399658203125,
                        "y": 3404.022705078125,
                        "z": 370.2230529785156
                    },
                    "rotation": {
                        "roll": 0.000538510037586093,
                        "pitch": -0.48159661889076233,
                        "yaw": -80.85384368896484
                    }
                },
                "velocity": {
                    "x": 1.2778486013412476,
                    "y": -7.936933994293213,
                    "z": -0.06485848128795624
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031317710876465,
                "transform": {
                    "location": {
                        "x": 966.2681274414062,
                        "y": 3406.652099609375,
                        "z": 370.2785949707031
                    },
                    "rotation": {
                        "roll": -0.0018615578301250935,
                        "pitch": -0.42511093616485596,
                        "yaw": -80.8758773803711
                    }
                },
                "velocity": {
                    "x": 1.2736679315567017,
                    "y": -7.929426193237305,
                    "z": -0.06344665586948395
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.8804779052734375,
                "transform": {
                    "location": {
                        "x": 943.1600341796875,
                        "y": 3487.6025390625,
                        "z": 370.7012939453125
                    },
                    "rotation": {
                        "roll": 0.0006010479410178959,
                        "pitch": 0.22672128677368164,
                        "yaw": 99.11820220947266
                    }
                },
                "velocity": {
                    "x": -1.2490872144699097,
                    "y": 7.780799388885498,
                    "z": 0.02949317917227745
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.879225730895996,
                "transform": {
                    "location": {
                        "x": 940.1959838867188,
                        "y": 3506.60205078125,
                        "z": 370.7604064941406
                    },
                    "rotation": {
                        "roll": -0.05838010460138321,
                        "pitch": -0.19732415676116943,
                        "yaw": 99.48731994628906
                    }
                },
                "velocity": {
                    "x": -1.1641653776168823,
                    "y": 6.779996395111084,
                    "z": 0.010837249457836151
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.8790893554688,
                        "y": 3361.3173828125,
                        "z": 369.7820739746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6958186626434326,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.651527404785156,
                "transform": {
                    "location": {
                        "x": 960.943359375,
                        "y": 3397.599365234375,
                        "z": 370.17596435546875
                    },
                    "rotation": {
                        "roll": 0.0002894233912229538,
                        "pitch": 0.6873560547828674,
                        "yaw": 99.28314971923828
                    }
                },
                "velocity": {
                    "x": -1.0660690069198608,
                    "y": 6.565301418304443,
                    "z": 0.05594825744628906
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.843690872192383,
                "transform": {
                    "location": {
                        "x": 958.3035888671875,
                        "y": 3413.956787109375,
                        "z": 370.3114318847656
                    },
                    "rotation": {
                        "roll": -0.0005798249039798975,
                        "pitch": 0.25888463854789734,
                        "yaw": 99.15189361572266
                    }
                },
                "velocity": {
                    "x": -1.2434881925582886,
                    "y": 7.744312763214111,
                    "z": 0.05329607054591179
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.013927459716797,
                "transform": {
                    "location": {
                        "x": 952.784912109375,
                        "y": 3448.3515625,
                        "z": 370.5228576660156
                    },
                    "rotation": {
                        "roll": -0.0001220912381540984,
                        "pitch": 0.29502999782562256,
                        "yaw": 98.97917938232422
                    }
                },
                "velocity": {
                    "x": -1.2731692790985107,
                    "y": 7.912046432495117,
                    "z": 0.04006040468811989
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162616491317749,
                "transform": {
                    "location": {
                        "x": 950.5307006835938,
                        "y": 3436.82080078125,
                        "z": 370.44952392578125
                    },
                    "rotation": {
                        "roll": -0.0002136400289600715,
                        "pitch": 0.5502809882164001,
                        "yaw": 99.137939453125
                    }
                },
                "velocity": {
                    "x": -0.5018342733383179,
                    "y": 3.1224966049194336,
                    "z": 0.017893437296152115
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165182590484619,
                "transform": {
                    "location": {
                        "x": 952.15234375,
                        "y": 3426.747314453125,
                        "z": 370.3811340332031
                    },
                    "rotation": {
                        "roll": -0.0006103484192863107,
                        "pitch": 0.06270113587379456,
                        "yaw": 99.14305877685547
                    }
                },
                "velocity": {
                    "x": -0.5030515789985657,
                    "y": 3.1248838901519775,
                    "z": 0.02048015594482422
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.565159022808075,
        "expert_target_speed": 0,
        "target_point": [
            54.5883464816613,
            3.0383234285657217
        ],
        "target_point_next": [
            105.57678772587431,
            4.121312101252331
        ]
    },
    "355": {
        "acceleration": [
            -4.315638542175293,
            0.3002738952636719,
            -0.004219114780426025
        ],
        "angular_velocity": [
            -1.1886770725250244,
            3.160444974899292,
            17.62320899963379
        ],
        "forward_vector": [
            -0.18001672625541687,
            0.9835997223854065,
            0.011202814988791943
        ],
        "right_vector": [
            -0.9835883975028992,
            -0.18013210594654083,
            0.010312527418136597
        ],
        "location": [
            952.29248046875,
            3443.31640625,
            370.4925842285156
        ],
        "rotation": [
            -0.590911865234375,
            0.6418874859809875,
            100.37139129638672
        ],
        "velocity": [
            -2.823784828186035,
            14.826251983642578,
            0.08479344844818115
        ],
        "speed": 15.092763452673573,
        "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": 7.023962497711182,
        "front_vehicle_info": {
            "id": 86172,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                952.4649047851562,
                3450.338134765625,
                370.53314208984375
            ],
            "velocity": [
                -1.2832914590835571,
                7.9771623611450195,
                0.0414387509226799
            ],
            "speed_kmh": 29.08739259949821,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.2162041664123535,
                "transform": {
                    "location": {
                        "x": 952.9689331054688,
                        "y": 3489.068359375,
                        "z": 370.7008972167969
                    },
                    "rotation": {
                        "roll": -0.006683353800326586,
                        "pitch": -0.2009851336479187,
                        "yaw": -80.45265197753906
                    }
                },
                "velocity": {
                    "x": 1.014031171798706,
                    "y": -6.132900238037109,
                    "z": -0.021627206355333328
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.875409126281738,
                "transform": {
                    "location": {
                        "x": 959.6461791992188,
                        "y": 3447.79931640625,
                        "z": 370.5084533691406
                    },
                    "rotation": {
                        "roll": 0.0008574947132728994,
                        "pitch": -0.3100290894508362,
                        "yaw": -80.84672546386719
                    }
                },
                "velocity": {
                    "x": 1.092391848564148,
                    "y": -6.787971496582031,
                    "z": -0.036987051367759705
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04006290435791,
                "transform": {
                    "location": {
                        "x": 956.8800659179688,
                        "y": 3444.534912109375,
                        "z": 370.5011291503906
                    },
                    "rotation": {
                        "roll": -0.0002746660029515624,
                        "pitch": -0.32378509640693665,
                        "yaw": -80.85398864746094
                    }
                },
                "velocity": {
                    "x": 1.2779390811920166,
                    "y": -7.937723636627197,
                    "z": -0.04501740261912346
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.131396293640137,
                "transform": {
                    "location": {
                        "x": 950.056640625,
                        "y": 3486.729248046875,
                        "z": 370.6910705566406
                    },
                    "rotation": {
                        "roll": 0.006720376200973988,
                        "pitch": 0.13087324798107147,
                        "yaw": -80.51469421386719
                    }
                },
                "velocity": {
                    "x": 1.3338356018066406,
                    "y": -8.021196365356445,
                    "z": -0.02998541295528412
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.9668579101562,
                        "y": 3372.732421875,
                        "z": 369.9201965332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.0193607807159424,
                "transform": {
                    "location": {
                        "x": 963.1839599609375,
                        "y": 3383.67578125,
                        "z": 370.0392150878906
                    },
                    "rotation": {
                        "roll": -0.007324185222387314,
                        "pitch": 0.7931898236274719,
                        "yaw": 98.67766571044922
                    }
                },
                "velocity": {
                    "x": -0.47235575318336487,
                    "y": 2.981996774673462,
                    "z": 0.03339346870779991
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02391242980957,
                "transform": {
                    "location": {
                        "x": 963.71875,
                        "y": 3402.04052734375,
                        "z": 370.20623779296875
                    },
                    "rotation": {
                        "roll": 0.0007710941135883331,
                        "pitch": -0.5035966634750366,
                        "yaw": -80.85389709472656
                    }
                },
                "velocity": {
                    "x": 1.275388479232788,
                    "y": -7.92160701751709,
                    "z": -0.06847675889730453
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.033023834228516,
                "transform": {
                    "location": {
                        "x": 966.5868530273438,
                        "y": 3404.669921875,
                        "z": 370.2624816894531
                    },
                    "rotation": {
                        "roll": -0.0016784704057499766,
                        "pitch": -0.47729358077049255,
                        "yaw": -80.84870147705078
                    }
                },
                "velocity": {
                    "x": 1.2758464813232422,
                    "y": -7.930788993835449,
                    "z": -0.0653863251209259
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.075943946838379,
                "transform": {
                    "location": {
                        "x": 942.844482421875,
                        "y": 3489.568115234375,
                        "z": 370.7087097167969
                    },
                    "rotation": {
                        "roll": -0.00036621768958866596,
                        "pitch": 0.19763150811195374,
                        "yaw": 99.11898040771484
                    }
                },
                "velocity": {
                    "x": -1.2798750400543213,
                    "y": 7.973825931549072,
                    "z": 0.029712971299886703
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.641326427459717,
                "transform": {
                    "location": {
                        "x": 939.9083251953125,
                        "y": 3508.268310546875,
                        "z": 370.7630310058594
                    },
                    "rotation": {
                        "roll": -0.0396118126809597,
                        "pitch": 0.027300264686346054,
                        "yaw": 99.78461456298828
                    }
                },
                "velocity": {
                    "x": -1.1421799659729004,
                    "y": 6.542355060577393,
                    "z": 0.015230865217745304
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.6142578125,
                        "y": 3362.96240234375,
                        "z": 369.80169677734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.032024383544922,
                "transform": {
                    "location": {
                        "x": 960.6422729492188,
                        "y": 3399.45654296875,
                        "z": 370.1919860839844
                    },
                    "rotation": {
                        "roll": 0.0028821337036788464,
                        "pitch": 0.709479033946991,
                        "yaw": 99.21939086914062
                    }
                },
                "velocity": {
                    "x": -1.2835116386413574,
                    "y": 7.928515434265137,
                    "z": 0.06821347773075104
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.723155975341797,
                "transform": {
                    "location": {
                        "x": 957.9737548828125,
                        "y": 3416.008056640625,
                        "z": 370.3255310058594
                    },
                    "rotation": {
                        "roll": 0.0010948707349598408,
                        "pitch": 0.2777154743671417,
                        "yaw": 99.13703918457031
                    }
                },
                "velocity": {
                    "x": -1.3853747844696045,
                    "y": 8.612236976623535,
                    "z": 0.059692639857530594
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.07983112335205,
                "transform": {
                    "location": {
                        "x": 952.4649047851562,
                        "y": 3450.338134765625,
                        "z": 370.53314208984375
                    },
                    "rotation": {
                        "roll": 2.1838222892256454e-05,
                        "pitch": 0.29768693447113037,
                        "yaw": 99.00384521484375
                    }
                },
                "velocity": {
                    "x": -1.2832914590835571,
                    "y": 7.9771623611450195,
                    "z": 0.0414387509226799
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1624529361724854,
                "transform": {
                    "location": {
                        "x": 950.405029296875,
                        "y": 3437.60107421875,
                        "z": 370.45404052734375
                    },
                    "rotation": {
                        "roll": 0.00011112909123767167,
                        "pitch": 0.5497345924377441,
                        "yaw": 99.13958740234375
                    }
                },
                "velocity": {
                    "x": -0.5026410222053528,
                    "y": 3.1222031116485596,
                    "z": 0.01755945198237896
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165243625640869,
                "transform": {
                    "location": {
                        "x": 952.0265502929688,
                        "y": 3427.528564453125,
                        "z": 370.38623046875
                    },
                    "rotation": {
                        "roll": 0.0009333018097095191,
                        "pitch": 0.0629265308380127,
                        "yaw": 99.14259338378906
                    }
                },
                "velocity": {
                    "x": -0.5029739141464233,
                    "y": 3.1249513626098633,
                    "z": 0.02152407541871071
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.49051037430763245,
        "expert_target_speed": 0,
        "target_point": [
            50.944121168644095,
            0.7849284788354343
        ],
        "target_point_next": [
            101.93233179940123,
            -0.30886384755742213
        ]
    },
    "360": {
        "acceleration": [
            -4.909849166870117,
            -2.2310447692871094,
            -0.06040722131729126
        ],
        "angular_velocity": [
            -1.439070463180542,
            2.0242795944213867,
            21.72369956970215
        ],
        "forward_vector": [
            -0.26789289712905884,
            0.9634209871292114,
            0.00730591407045722
        ],
        "right_vector": [
            -0.9631527662277222,
            -0.2679908275604248,
            0.022754140198230743
        ],
        "location": [
            951.4473266601562,
            3446.99365234375,
            370.513671875
        ],
        "rotation": [
            -1.303863525390625,
            0.41860178112983704,
            105.53934478759766
        ],
        "velocity": [
            -4.007829666137695,
            14.49992847442627,
            0.07566820085048676
        ],
        "speed": 15.0436240446327,
        "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": 5.375951290130615,
        "front_vehicle_info": {
            "id": 86172,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                952.1456298828125,
                3452.323974609375,
                370.54345703125
            ],
            "velocity": [
                -1.2720074653625488,
                7.912870407104492,
                0.04129437357187271
            ],
            "speed_kmh": 28.85242819603341,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 943.6859741210938,
                        "y": 3525.8876953125,
                        "z": 371.1979064941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.1499636322259903,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.249635219573975,
                "transform": {
                    "location": {
                        "x": 953.2435913085938,
                        "y": 3487.409912109375,
                        "z": 370.6953430175781
                    },
                    "rotation": {
                        "roll": -0.002807592274621129,
                        "pitch": -0.29666242003440857,
                        "yaw": -80.558349609375
                    }
                },
                "velocity": {
                    "x": 1.1789765357971191,
                    "y": -7.153071880340576,
                    "z": -0.028052205219864845
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.725579261779785,
                "transform": {
                    "location": {
                        "x": 959.93505859375,
                        "y": 3446.004638671875,
                        "z": 370.49835205078125
                    },
                    "rotation": {
                        "roll": -0.0006103491177782416,
                        "pitch": -0.28817248344421387,
                        "yaw": -80.85105895996094
                    }
                },
                "velocity": {
                    "x": 1.2279951572418213,
                    "y": -7.6272406578063965,
                    "z": -0.04249062389135361
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04347038269043,
                "transform": {
                    "location": {
                        "x": 957.1993408203125,
                        "y": 3442.55078125,
                        "z": 370.48980712890625
                    },
                    "rotation": {
                        "roll": 0.0016328300116583705,
                        "pitch": -0.3357789218425751,
                        "yaw": -80.85718536376953
                    }
                },
                "velocity": {
                    "x": 1.2781944274902344,
                    "y": -7.941127300262451,
                    "z": -0.04625382274389267
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.217108726501465,
                "transform": {
                    "location": {
                        "x": 950.400146484375,
                        "y": 3484.66015625,
                        "z": 370.6830139160156
                    },
                    "rotation": {
                        "roll": 0.0018234115559607744,
                        "pitch": -0.12835291028022766,
                        "yaw": -80.53304290771484
                    }
                },
                "velocity": {
                    "x": 1.3445546627044678,
                    "y": -8.10628890991211,
                    "z": -0.03355087712407112
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.6373901367188,
                        "y": 3375.210205078125,
                        "z": 369.9460754394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.538646697998047,
                "transform": {
                    "location": {
                        "x": 963.0332641601562,
                        "y": 3384.622314453125,
                        "z": 370.04931640625
                    },
                    "rotation": {
                        "roll": -0.008331319317221642,
                        "pitch": 0.837961733341217,
                        "yaw": 98.88780212402344
                    }
                },
                "velocity": {
                    "x": -0.7154530882835388,
                    "y": 4.4816508293151855,
                    "z": 0.0474281869828701
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.040499687194824,
                "transform": {
                    "location": {
                        "x": 964.037841796875,
                        "y": 3400.05810546875,
                        "z": 370.1889343261719
                    },
                    "rotation": {
                        "roll": 0.002217467874288559,
                        "pitch": -0.49956685304641724,
                        "yaw": -80.85692596435547
                    }
                },
                "velocity": {
                    "x": 1.2775834798812866,
                    "y": -7.938057899475098,
                    "z": -0.06817419826984406
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030936241149902,
                "transform": {
                    "location": {
                        "x": 966.9060668945312,
                        "y": 3402.687744140625,
                        "z": 370.2457580566406
                    },
                    "rotation": {
                        "roll": -0.0004882967914454639,
                        "pitch": -0.4965752065181732,
                        "yaw": -80.8697280883789
                    }
                },
                "velocity": {
                    "x": 1.2744542360305786,
                    "y": -7.928866386413574,
                    "z": -0.06913264095783234
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.027573585510254,
                "transform": {
                    "location": {
                        "x": 942.5244140625,
                        "y": 3491.560546875,
                        "z": 370.7159423828125
                    },
                    "rotation": {
                        "roll": 0.00021572592959273607,
                        "pitch": 0.20268584787845612,
                        "yaw": 99.12584686279297
                    }
                },
                "velocity": {
                    "x": -1.2732120752334595,
                    "y": 7.92590856552124,
                    "z": 0.029004687443375587
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.71095609664917,
                "transform": {
                    "location": {
                        "x": 939.639404296875,
                        "y": 3509.848876953125,
                        "z": 370.7677307128906
                    },
                    "rotation": {
                        "roll": 0.010125864297151566,
                        "pitch": -0.1530713587999344,
                        "yaw": 99.67887878417969
                    }
                },
                "velocity": {
                    "x": -0.9504123330116272,
                    "y": 5.631294250488281,
                    "z": 0.0160813145339489
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.349609375,
                        "y": 3364.607666015625,
                        "z": 369.82135009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.113388061523438,
                "transform": {
                    "location": {
                        "x": 960.2999877929688,
                        "y": 3401.5751953125,
                        "z": 370.2103576660156
                    },
                    "rotation": {
                        "roll": 0.003541273530572653,
                        "pitch": 0.6777049899101257,
                        "yaw": 99.17465209960938
                    }
                },
                "velocity": {
                    "x": -1.4520272016525269,
                    "y": 8.996642112731934,
                    "z": 0.0767827033996582
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.650102615356445,
                "transform": {
                    "location": {
                        "x": 957.6080932617188,
                        "y": 3418.281494140625,
                        "z": 370.34100341796875
                    },
                    "rotation": {
                        "roll": -0.00018311016901861876,
                        "pitch": 0.29397815465927124,
                        "yaw": 99.13823699951172
                    }
                },
                "velocity": {
                    "x": -1.5325111150741577,
                    "y": 9.527419090270996,
                    "z": 0.06459737569093704
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.01456356048584,
                "transform": {
                    "location": {
                        "x": 952.1456298828125,
                        "y": 3452.323974609375,
                        "z": 370.54345703125
                    },
                    "rotation": {
                        "roll": -0.0003051880921702832,
                        "pitch": 0.29629358649253845,
                        "yaw": 98.97383117675781
                    }
                },
                "velocity": {
                    "x": -1.2720074653625488,
                    "y": 7.912870407104492,
                    "z": 0.04129437357187271
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162445068359375,
                "transform": {
                    "location": {
                        "x": 950.2794799804688,
                        "y": 3438.381591796875,
                        "z": 370.4586181640625
                    },
                    "rotation": {
                        "roll": -0.0006103962077759206,
                        "pitch": 0.550199031829834,
                        "yaw": 99.13672637939453
                    }
                },
                "velocity": {
                    "x": -0.5016569495201111,
                    "y": 3.122354030609131,
                    "z": 0.017475586384534836
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1650102138519287,
                "transform": {
                    "location": {
                        "x": 951.9008178710938,
                        "y": 3428.309814453125,
                        "z": 370.3912658691406
                    },
                    "rotation": {
                        "roll": -0.0007934562745504081,
                        "pitch": 0.06334999948740005,
                        "yaw": 99.14238739013672
                    }
                },
                "velocity": {
                    "x": -0.5027392506599426,
                    "y": 3.124753713607788,
                    "z": 0.021363716572523117
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0881304070353508,
        "expert_target_speed": 0,
        "target_point": [
            47.03848638373855,
            -3.636196398525735
        ],
        "target_point_next": [
            97.72090405589323,
            -9.318321343033116
        ]
    },
    "365": {
        "acceleration": [
            -2.117481231689453,
            -2.014598846435547,
            7.361173629760742e-05
        ],
        "angular_velocity": [
            0.06523700058460236,
            -1.4233343601226807,
            9.777887344360352
        ],
        "forward_vector": [
            -0.3389986455440521,
            0.9407756328582764,
            0.004598124418407679
        ],
        "right_vector": [
            -0.9404711127281189,
            -0.3390074372291565,
            0.024250240996479988
        ],
        "location": [
            950.3310546875,
            3450.54296875,
            370.5328369140625
        ],
        "rotation": [
            -1.3895872831344604,
            0.26345404982566833,
            109.81609344482422
        ],
        "velocity": [
            -4.870102882385254,
            13.925790786743164,
            0.07442376762628555
        ],
        "speed": 14.752815023620338,
        "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": 43.75910186767578,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                942.206298828125,
                3493.540771484375,
                370.7229919433594
            ],
            "velocity": [
                -1.2744485139846802,
                7.933557510375977,
                0.028523482382297516
            ],
            "speed_kmh": 28.927151971301512,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.8023071289062,
                        "y": 3526.97705078125,
                        "z": 371.04644775390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.15530483424663544,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.0115356445312,
                        "y": 3523.864501953125,
                        "z": 370.8568420410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.15530483424663544,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.591233253479004,
                "transform": {
                    "location": {
                        "x": 953.5584106445312,
                        "y": 3485.5048828125,
                        "z": 370.68841552734375
                    },
                    "rotation": {
                        "roll": -0.0015258740168064833,
                        "pitch": -0.3817460834980011,
                        "yaw": -80.6144027709961
                    }
                },
                "velocity": {
                    "x": 1.397581934928894,
                    "y": -8.476727485656738,
                    "z": -0.03384130075573921
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.746213912963867,
                "transform": {
                    "location": {
                        "x": 960.2561645507812,
                        "y": 3444.010009765625,
                        "z": 370.4872131347656
                    },
                    "rotation": {
                        "roll": 0.0010453665163367987,
                        "pitch": -0.2981923818588257,
                        "yaw": -80.85446166992188
                    }
                },
                "velocity": {
                    "x": 1.390077829360962,
                    "y": -8.634896278381348,
                    "z": -0.05001472309231758
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044384956359863,
                "transform": {
                    "location": {
                        "x": 957.5188598632812,
                        "y": 3440.565185546875,
                        "z": 370.47808837890625
                    },
                    "rotation": {
                        "roll": 0.0007590175955556333,
                        "pitch": -0.33398255705833435,
                        "yaw": -80.86095428466797
                    }
                },
                "velocity": {
                    "x": 1.2776894569396973,
                    "y": -7.942139148712158,
                    "z": -0.04544103518128395
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.788496494293213,
                "transform": {
                    "location": {
                        "x": 950.7218627929688,
                        "y": 3482.708251953125,
                        "z": 370.6750793457031
                    },
                    "rotation": {
                        "roll": 0.0053904689848423,
                        "pitch": -0.27569374442100525,
                        "yaw": -80.62075805664062
                    }
                },
                "velocity": {
                    "x": 1.2605774402618408,
                    "y": -7.685738563537598,
                    "z": -0.03237997367978096
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.5050048828125,
                        "y": 3376.03271484375,
                        "z": 369.9556884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.460817337036133,
                "transform": {
                    "location": {
                        "x": 962.8291015625,
                        "y": 3385.8955078125,
                        "z": 370.06298828125
                    },
                    "rotation": {
                        "roll": -0.0035705696791410446,
                        "pitch": 0.7452350854873657,
                        "yaw": 99.03597259521484
                    }
                },
                "velocity": {
                    "x": -0.8650648593902588,
                    "y": 5.391558647155762,
                    "z": 0.05731651186943054
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024449348449707,
                "transform": {
                    "location": {
                        "x": 964.3568725585938,
                        "y": 3398.075439453125,
                        "z": 370.1717224121094
                    },
                    "rotation": {
                        "roll": -0.0003357058158144355,
                        "pitch": -0.49850133061408997,
                        "yaw": -80.85966491699219
                    }
                },
                "velocity": {
                    "x": 1.2756705284118652,
                    "y": -7.922110557556152,
                    "z": -0.06795522570610046
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.032483100891113,
                "transform": {
                    "location": {
                        "x": 967.2249755859375,
                        "y": 3400.705322265625,
                        "z": 370.22845458984375
                    },
                    "rotation": {
                        "roll": -0.0009155459702014923,
                        "pitch": -0.49292105436325073,
                        "yaw": -80.8429946899414
                    }
                },
                "velocity": {
                    "x": 1.2765755653381348,
                    "y": -7.930093288421631,
                    "z": -0.06899602711200714
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.035320281982422,
                "transform": {
                    "location": {
                        "x": 942.206298828125,
                        "y": 3493.540771484375,
                        "z": 370.7229919433594
                    },
                    "rotation": {
                        "roll": 2.6013583465100965e-07,
                        "pitch": 0.20597800612449646,
                        "yaw": 99.12618255615234
                    }
                },
                "velocity": {
                    "x": -1.2744485139846802,
                    "y": 7.933557510375977,
                    "z": 0.028523482382297516
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.352902412414551,
                "transform": {
                    "location": {
                        "x": 939.4138793945312,
                        "y": 3511.186279296875,
                        "z": 370.7713928222656
                    },
                    "rotation": {
                        "roll": 0.00796720664948225,
                        "pitch": -0.11193996667861938,
                        "yaw": 99.59394073486328
                    }
                },
                "velocity": {
                    "x": -0.8875728249549866,
                    "y": 5.278787136077881,
                    "z": 0.013754377141594887
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 966.0846557617188,
                        "y": 3366.252685546875,
                        "z": 369.84088134765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.84549617767334,
                "transform": {
                    "location": {
                        "x": 959.920654296875,
                        "y": 3403.925537109375,
                        "z": 370.2302551269531
                    },
                    "rotation": {
                        "roll": 0.001335511333309114,
                        "pitch": 0.6108647584915161,
                        "yaw": 99.17031860351562
                    }
                },
                "velocity": {
                    "x": -1.568557858467102,
                    "y": 9.719411849975586,
                    "z": 0.08033769577741623
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.464037895202637,
                "transform": {
                    "location": {
                        "x": 957.2081909179688,
                        "y": 3420.767822265625,
                        "z": 370.35791015625
                    },
                    "rotation": {
                        "roll": -0.0009155378211289644,
                        "pitch": 0.2986909747123718,
                        "yaw": 99.13849639892578
                    }
                },
                "velocity": {
                    "x": -1.6617881059646606,
                    "y": 10.330998420715332,
                    "z": 0.07085902988910675
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.080046653747559,
                "transform": {
                    "location": {
                        "x": 951.82568359375,
                        "y": 3454.310302734375,
                        "z": 370.5533447265625
                    },
                    "rotation": {
                        "roll": -0.0012512333923950791,
                        "pitch": 0.27828919887542725,
                        "yaw": 99.00812530517578
                    }
                },
                "velocity": {
                    "x": -1.2869482040405273,
                    "y": 7.976802825927734,
                    "z": 0.039119280874729156
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1624813079833984,
                "transform": {
                    "location": {
                        "x": 950.1538696289062,
                        "y": 3439.161865234375,
                        "z": 370.4632263183594
                    },
                    "rotation": {
                        "roll": 0.0008047189330682158,
                        "pitch": 0.5516265630722046,
                        "yaw": 99.13821411132812
                    }
                },
                "velocity": {
                    "x": -0.5021630525588989,
                    "y": 3.1223084926605225,
                    "z": 0.01761753112077713
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1649744510650635,
                "transform": {
                    "location": {
                        "x": 951.775146484375,
                        "y": 3429.091064453125,
                        "z": 370.3963928222656
                    },
                    "rotation": {
                        "roll": 0.00026771824923343956,
                        "pitch": 0.06422426551580429,
                        "yaw": 99.14324188232422
                    }
                },
                "velocity": {
                    "x": -0.5030691623687744,
                    "y": 3.1246659755706787,
                    "z": 0.02114718407392502
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.056345950812101364,
        "expert_target_speed": 0,
        "target_point": [
            42.91877460030383,
            -6.980880037607949
        ],
        "target_point_next": [
            93.03632441145278,
            -16.42678951773386
        ]
    },
    "370": {
        "acceleration": [
            1.808023452758789,
            -0.5611991882324219,
            -0.044445693492889404
        ],
        "angular_velocity": [
            1.161033272743225,
            -4.050780296325684,
            -7.845776557922363
        ],
        "forward_vector": [
            -0.3395209312438965,
            0.9405927062034607,
            0.0033013757783919573
        ],
        "right_vector": [
            -0.9405374526977539,
            -0.33953678607940674,
            0.010200737975537777
        ],
        "location": [
            949.1109008789062,
            3453.982177734375,
            370.5511169433594
        ],
        "rotation": [
            -0.5844725370407104,
            0.18915525078773499,
            109.8478012084961
        ],
        "velocity": [
            -4.798068523406982,
            13.641165733337402,
            0.06825031340122223
        ],
        "speed": 14.460389487136487,
        "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": 42.16145706176758,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                941.888427734375,
                3495.52001953125,
                370.72998046875
            ],
            "velocity": [
                -1.2659990787506104,
                7.881174564361572,
                0.025638464838266373
            ],
            "speed_kmh": 28.736101905413783,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.1319580078125,
                        "y": 3524.928955078125,
                        "z": 370.8445739746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.15530483424663544,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.1123127937316895,
                "transform": {
                    "location": {
                        "x": 944.3368530273438,
                        "y": 3521.842529296875,
                        "z": 370.8272705078125
                    },
                    "rotation": {
                        "roll": 0.00028158657369203866,
                        "pitch": -0.17761223018169403,
                        "yaw": -80.85899353027344
                    }
                },
                "velocity": {
                    "x": 1.1286975145339966,
                    "y": -7.019933700561523,
                    "z": -0.1776747852563858
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.279196739196777,
                "transform": {
                    "location": {
                        "x": 953.9044189453125,
                        "y": 3483.39794921875,
                        "z": 370.67877197265625
                    },
                    "rotation": {
                        "roll": -0.004394528456032276,
                        "pitch": -0.23114041984081268,
                        "yaw": -80.68180084228516
                    }
                },
                "velocity": {
                    "x": 1.3304972648620605,
                    "y": -8.17151927947998,
                    "z": -0.033833738416433334
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.363533973693848,
                "transform": {
                    "location": {
                        "x": 960.5975341796875,
                        "y": 3441.889404296875,
                        "z": 370.47509765625
                    },
                    "rotation": {
                        "roll": 0.001921343500725925,
                        "pitch": -0.3342011272907257,
                        "yaw": -80.86802673339844
                    }
                },
                "velocity": {
                    "x": 1.3283333778381348,
                    "y": -8.257229804992676,
                    "z": -0.04881284758448601
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04302978515625,
                "transform": {
                    "location": {
                        "x": 957.8382568359375,
                        "y": 3438.579833984375,
                        "z": 370.4664306640625
                    },
                    "rotation": {
                        "roll": 0.0014026537537574768,
                        "pitch": -0.33334052562713623,
                        "yaw": -80.8612289428711
                    }
                },
                "velocity": {
                    "x": 1.2774617671966553,
                    "y": -7.940805435180664,
                    "z": -0.04504358768463135
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.192503929138184,
                "transform": {
                    "location": {
                        "x": 951.0443725585938,
                        "y": 3480.734619140625,
                        "z": 370.6671142578125
                    },
                    "rotation": {
                        "roll": 0.005950524006038904,
                        "pitch": -0.17763954401016235,
                        "yaw": -80.73414611816406
                    }
                },
                "velocity": {
                    "x": 1.3175381422042847,
                    "y": -8.085799217224121,
                    "z": -0.03267452493309975
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.2423095703125,
                        "y": 3377.678466796875,
                        "z": 369.974365234375
                    },
                    "rotation": {
                        "roll": -2.668203791245105e-08,
                        "pitch": 0.6296819448471069,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.240943431854248,
                "transform": {
                    "location": {
                        "x": 962.6057739257812,
                        "y": 3387.28369140625,
                        "z": 370.0771484375
                    },
                    "rotation": {
                        "roll": -0.002899165265262127,
                        "pitch": 0.6793783903121948,
                        "yaw": 99.11601257324219
                    }
                },
                "velocity": {
                    "x": -0.9929638504981995,
                    "y": 6.161140441894531,
                    "z": 0.06121906265616417
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.039963722229004,
                "transform": {
                    "location": {
                        "x": 964.6758422851562,
                        "y": 3396.09326171875,
                        "z": 370.15423583984375
                    },
                    "rotation": {
                        "roll": -0.00024413553182967007,
                        "pitch": -0.5092725157737732,
                        "yaw": -80.8580093383789
                    }
                },
                "velocity": {
                    "x": 1.277287244796753,
                    "y": -7.9375152587890625,
                    "z": -0.0735606774687767
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0329008102417,
                "transform": {
                    "location": {
                        "x": 967.5442504882812,
                        "y": 3398.72265625,
                        "z": 370.2112731933594
                    },
                    "rotation": {
                        "roll": -0.00030518195126205683,
                        "pitch": -0.4921492636203766,
                        "yaw": -80.86902618408203
                    }
                },
                "velocity": {
                    "x": 1.2766773700714111,
                    "y": -7.930505752563477,
                    "z": -0.06833263486623764
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.982250213623047,
                "transform": {
                    "location": {
                        "x": 941.888427734375,
                        "y": 3495.52001953125,
                        "z": 370.72998046875
                    },
                    "rotation": {
                        "roll": -0.0005493194912560284,
                        "pitch": 0.18634121119976044,
                        "yaw": 99.1260757446289
                    }
                },
                "velocity": {
                    "x": -1.2659990787506104,
                    "y": 7.881174564361572,
                    "z": 0.025638464838266373
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.692371368408203,
                "transform": {
                    "location": {
                        "x": 939.1771850585938,
                        "y": 3512.593994140625,
                        "z": 370.7734375
                    },
                    "rotation": {
                        "roll": 0.005566663574427366,
                        "pitch": 0.3652033507823944,
                        "yaw": 99.5538330078125
                    }
                },
                "velocity": {
                    "x": -1.1076868772506714,
                    "y": 6.600040912628174,
                    "z": 0.017981166020035744
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.8200073242188,
                        "y": 3367.897705078125,
                        "z": 369.8601379394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.6187105178833,
                "transform": {
                    "location": {
                        "x": 959.5139770507812,
                        "y": 3406.448974609375,
                        "z": 370.2503356933594
                    },
                    "rotation": {
                        "roll": -0.0001831427653087303,
                        "pitch": 0.546046257019043,
                        "yaw": 99.1555404663086
                    }
                },
                "velocity": {
                    "x": -1.6895419359207153,
                    "y": 10.483141899108887,
                    "z": 0.07877029478549957
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.32281494140625,
                "transform": {
                    "location": {
                        "x": 956.7747192382812,
                        "y": 3423.462158203125,
                        "z": 370.3764343261719
                    },
                    "rotation": {
                        "roll": 0.00025481494958512485,
                        "pitch": 0.3019762933254242,
                        "yaw": 99.13882446289062
                    }
                },
                "velocity": {
                    "x": -1.7984169721603394,
                    "y": 11.178817749023438,
                    "z": 0.07653161883354187
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.015578269958496,
                "transform": {
                    "location": {
                        "x": 951.5059814453125,
                        "y": 3456.296142578125,
                        "z": 370.5628356933594
                    },
                    "rotation": {
                        "roll": -0.0009460572036914527,
                        "pitch": 0.255182683467865,
                        "yaw": 98.97696685791016
                    }
                },
                "velocity": {
                    "x": -1.2719181776046753,
                    "y": 7.913937091827393,
                    "z": 0.036244362592697144
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162546157836914,
                "transform": {
                    "location": {
                        "x": 950.0283203125,
                        "y": 3439.942138671875,
                        "z": 370.4678039550781
                    },
                    "rotation": {
                        "roll": 0.00010960826330119744,
                        "pitch": 0.5517358183860779,
                        "yaw": 99.13850402832031
                    }
                },
                "velocity": {
                    "x": -0.5025101900100708,
                    "y": 3.1223180294036865,
                    "z": 0.01766071282327175
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165009021759033,
                "transform": {
                    "location": {
                        "x": 951.6493530273438,
                        "y": 3429.872314453125,
                        "z": 370.4015197753906
                    },
                    "rotation": {
                        "roll": 5.435139246401377e-05,
                        "pitch": 0.0633363425731659,
                        "yaw": 99.14265441894531
                    }
                },
                "velocity": {
                    "x": -0.5027100443840027,
                    "y": 3.1247639656066895,
                    "z": 0.020402831956744194
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.3569554388523102,
        "expert_target_speed": 10.0,
        "target_point": [
            39.265720832655965,
            -6.984621941635446
        ],
        "target_point_next": [
            89.3780336335199,
            -16.45827544638727
        ]
    },
    "375": {
        "acceleration": [
            3.8886260986328125,
            0.04070281982421875,
            -0.01626737415790558
        ],
        "angular_velocity": [
            1.0423403978347778,
            -3.4282479286193848,
            -16.097978591918945
        ],
        "forward_vector": [
            -0.2863018810749054,
            0.9581357836723328,
            0.002682324731722474
        ],
        "right_vector": [
            -0.9581183195114136,
            -0.2862757742404938,
            -0.007451825775206089
        ],
        "location": [
            948.0022583007812,
            3457.38427734375,
            370.5675048828125
        ],
        "rotation": [
            0.4269636273384094,
            0.15368607640266418,
            106.63674926757812
        ],
        "velocity": [
            -4.007312297821045,
            13.607353210449219,
            0.06242747977375984
        ],
        "speed": 14.185154678261018,
        "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": 40.52361297607422,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                941.5867919921875,
                3497.396484375,
                370.73541259765625
            ],
            "velocity": [
                -1.0645394325256348,
                6.623705863952637,
                0.021844778209924698
            ],
            "speed_kmh": 24.151466249026637,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.925449848175049,
                "transform": {
                    "location": {
                        "x": 947.4052734375,
                        "y": 3523.26806640625,
                        "z": 370.7881164550781
                    },
                    "rotation": {
                        "roll": 0.011159763671457767,
                        "pitch": 0.021412642672657967,
                        "yaw": -80.65758514404297
                    }
                },
                "velocity": {
                    "x": 0.9991200566291809,
                    "y": -5.840568542480469,
                    "z": 0.02178078517317772
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.787290096282959,
                "transform": {
                    "location": {
                        "x": 944.617919921875,
                        "y": 3520.140869140625,
                        "z": 370.79339599609375
                    },
                    "rotation": {
                        "roll": -0.006835938896983862,
                        "pitch": -0.17965444922447205,
                        "yaw": -80.5810317993164
                    }
                },
                "velocity": {
                    "x": 1.1435322761535645,
                    "y": -6.689900875091553,
                    "z": -0.06975937634706497
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.801974296569824,
                "transform": {
                    "location": {
                        "x": 954.2249145507812,
                        "y": 3481.43017578125,
                        "z": 370.6705322265625
                    },
                    "rotation": {
                        "roll": -0.0018005380406975746,
                        "pitch": -0.18716765940189362,
                        "yaw": -80.74546813964844
                    }
                },
                "velocity": {
                    "x": 1.2506752014160156,
                    "y": -7.701009750366211,
                    "z": -0.03264912962913513
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.029662132263184,
                "transform": {
                    "location": {
                        "x": 960.9221801757812,
                        "y": 3439.87158203125,
                        "z": 370.46331787109375
                    },
                    "rotation": {
                        "roll": 0.0007021214114502072,
                        "pitch": -0.34389999508857727,
                        "yaw": -80.87263488769531
                    }
                },
                "velocity": {
                    "x": 1.2752968072891235,
                    "y": -7.927597999572754,
                    "z": -0.04776589944958687
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042021751403809,
                "transform": {
                    "location": {
                        "x": 958.1575317382812,
                        "y": 3436.594970703125,
                        "z": 370.4547424316406
                    },
                    "rotation": {
                        "roll": -0.0005798424826934934,
                        "pitch": -0.33922815322875977,
                        "yaw": -80.86094665527344
                    }
                },
                "velocity": {
                    "x": 1.277271032333374,
                    "y": -7.939794063568115,
                    "z": -0.04863322153687477
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.026820182800293,
                "transform": {
                    "location": {
                        "x": 951.3713989257812,
                        "y": 3478.725341796875,
                        "z": 370.6588134765625
                    },
                    "rotation": {
                        "roll": 0.004136891569942236,
                        "pitch": -0.24679520726203918,
                        "yaw": -80.74999237060547
                    }
                },
                "velocity": {
                    "x": 1.2860826253890991,
                    "y": -7.923050403594971,
                    "z": -0.03325003385543823
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.979736328125,
                        "y": 3379.32421875,
                        "z": 369.9930419921875
                    },
                    "rotation": {
                        "roll": -2.668203791245105e-08,
                        "pitch": 0.6296819448471069,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.955734729766846,
                "transform": {
                    "location": {
                        "x": 962.3131713867188,
                        "y": 3389.095458984375,
                        "z": 370.09515380859375
                    },
                    "rotation": {
                        "roll": -0.0032043878454715014,
                        "pitch": 0.7955803871154785,
                        "yaw": 99.18707275390625
                    }
                },
                "velocity": {
                    "x": -1.2690258026123047,
                    "y": 7.853495121002197,
                    "z": 0.07680295407772064
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024799346923828,
                "transform": {
                    "location": {
                        "x": 964.9948120117188,
                        "y": 3394.111572265625,
                        "z": 370.1358642578125
                    },
                    "rotation": {
                        "roll": -0.000823984679300338,
                        "pitch": -0.5632583498954773,
                        "yaw": -80.85819244384766
                    }
                },
                "velocity": {
                    "x": 1.2748442888259888,
                    "y": -7.922532558441162,
                    "z": -0.07524194568395615
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.033222198486328,
                "transform": {
                    "location": {
                        "x": 967.8631591796875,
                        "y": 3396.740478515625,
                        "z": 370.19384765625
                    },
                    "rotation": {
                        "roll": -0.00021361168182920665,
                        "pitch": -0.5020461678504944,
                        "yaw": -80.84341430664062
                    }
                },
                "velocity": {
                    "x": 1.2765922546386719,
                    "y": -7.9307861328125,
                    "z": -0.07488184422254562
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.708740234375,
                "transform": {
                    "location": {
                        "x": 941.5867919921875,
                        "y": 3497.396484375,
                        "z": 370.73541259765625
                    },
                    "rotation": {
                        "roll": 7.960198126966134e-05,
                        "pitch": 0.27767449617385864,
                        "yaw": 99.13246154785156
                    }
                },
                "velocity": {
                    "x": -1.0645394325256348,
                    "y": 6.623705863952637,
                    "z": 0.021844778209924698
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.172811508178711,
                "transform": {
                    "location": {
                        "x": 938.8638305664062,
                        "y": 3514.4736328125,
                        "z": 370.77728271484375
                    },
                    "rotation": {
                        "roll": 0.022539054974913597,
                        "pitch": 0.730543315410614,
                        "yaw": 99.4524917602539
                    }
                },
                "velocity": {
                    "x": -1.3313581943511963,
                    "y": 8.063612937927246,
                    "z": 0.02193266898393631
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.5552978515625,
                        "y": 3369.54296875,
                        "z": 369.87939453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.399731636047363,
                "transform": {
                    "location": {
                        "x": 959.0751342773438,
                        "y": 3409.17431640625,
                        "z": 370.2705078125
                    },
                    "rotation": {
                        "roll": 0.000158088791067712,
                        "pitch": 0.5493247509002686,
                        "yaw": 99.15042877197266
                    }
                },
                "velocity": {
                    "x": -1.812543272972107,
                    "y": 11.254414558410645,
                    "z": 0.08204787969589233
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.099672317504883,
                "transform": {
                    "location": {
                        "x": 956.3092041015625,
                        "y": 3426.3564453125,
                        "z": 370.39593505859375
                    },
                    "rotation": {
                        "roll": 0.00012729395530186594,
                        "pitch": 0.2911572754383087,
                        "yaw": 99.13916015625
                    }
                },
                "velocity": {
                    "x": -1.9217596054077148,
                    "y": 11.94583511352539,
                    "z": 0.07699473947286606
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.079748153686523,
                "transform": {
                    "location": {
                        "x": 951.1864624023438,
                        "y": 3458.28271484375,
                        "z": 370.57177734375
                    },
                    "rotation": {
                        "roll": -0.0012207085965201259,
                        "pitch": 0.25973159074783325,
                        "yaw": 98.99608612060547
                    }
                },
                "velocity": {
                    "x": -1.2847012281417847,
                    "y": 7.976871967315674,
                    "z": 0.037261962890625
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1624178886413574,
                "transform": {
                    "location": {
                        "x": 949.9027709960938,
                        "y": 3440.722412109375,
                        "z": 370.4723815917969
                    },
                    "rotation": {
                        "roll": -0.001129140960983932,
                        "pitch": 0.5500556230545044,
                        "yaw": 99.13752746582031
                    }
                },
                "velocity": {
                    "x": -0.5019369721412659,
                    "y": 3.1222808361053467,
                    "z": 0.017587527632713318
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651506423950195,
                "transform": {
                    "location": {
                        "x": 951.5236206054688,
                        "y": 3430.653564453125,
                        "z": 370.4065856933594
                    },
                    "rotation": {
                        "roll": -0.00039672813727520406,
                        "pitch": 0.06288554519414902,
                        "yaw": 99.14271545410156
                    }
                },
                "velocity": {
                    "x": -0.5027562379837036,
                    "y": 3.124897003173828,
                    "z": 0.020813684910535812
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.39738863706588745,
        "expert_target_speed": 10.0,
        "target_point": [
            36.01821969629983,
            -4.862407593981067
        ],
        "target_point_next": [
            86.58251609216302,
            -11.51416938850031
        ]
    },
    "380": {
        "acceleration": [
            4.355826377868652,
            -0.0481414794921875,
            -0.007446110248565674
        ],
        "angular_velocity": [
            0.4135921001434326,
            -1.7595000267028809,
            -17.44683837890625
        ],
        "forward_vector": [
            -0.21395890414714813,
            0.9768387079238892,
            0.0027704203967005014
        ],
        "right_vector": [
            -0.9766771197319031,
            -0.2138695865869522,
            -0.019014453515410423
        ],
        "location": [
            947.126953125,
            3460.7841796875,
            370.58294677734375
        ],
        "rotation": [
            1.0895177125930786,
            0.15873359143733978,
            102.35450744628906
        ],
        "velocity": [
            -2.9496941566467285,
            13.608988761901855,
            0.060771357268095016
        ],
        "speed": 13.924987279682766,
        "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": 38.55899429321289,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                941.3440551757812,
                3498.90673828125,
                370.7403869628906
            ],
            "velocity": [
                -0.9449976682662964,
                5.882386207580566,
                0.020646963268518448
            ],
            "speed_kmh": 21.44824119672532,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.175925254821777,
                "transform": {
                    "location": {
                        "x": 947.6598510742188,
                        "y": 3521.774658203125,
                        "z": 370.7999267578125
                    },
                    "rotation": {
                        "roll": 0.0014426546404138207,
                        "pitch": -0.13507381081581116,
                        "yaw": -80.4123306274414
                    }
                },
                "velocity": {
                    "x": 1.0475932359695435,
                    "y": -6.086397647857666,
                    "z": 0.019182804971933365
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.000194549560547,
                "transform": {
                    "location": {
                        "x": 944.9086303710938,
                        "y": 3518.4404296875,
                        "z": 370.78436279296875
                    },
                    "rotation": {
                        "roll": -0.004119866993278265,
                        "pitch": -0.1586926132440567,
                        "yaw": -80.1844711303711
                    }
                },
                "velocity": {
                    "x": 1.190477728843689,
                    "y": -6.898193836212158,
                    "z": -0.02018098719418049
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.118741035461426,
                "transform": {
                    "location": {
                        "x": 954.5439453125,
                        "y": 3479.46826171875,
                        "z": 370.662841796875
                    },
                    "rotation": {
                        "roll": -0.00048826963757164776,
                        "pitch": -0.24591411650180817,
                        "yaw": -80.7648696899414
                    }
                },
                "velocity": {
                    "x": 1.298247218132019,
                    "y": -8.014200210571289,
                    "z": -0.033298637717962265
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.969104766845703,
                "transform": {
                    "location": {
                        "x": 961.2388916015625,
                        "y": 3437.90185546875,
                        "z": 370.45159912109375
                    },
                    "rotation": {
                        "roll": 0.0007180360262282193,
                        "pitch": -0.3368239402770996,
                        "yaw": -80.86613464355469
                    }
                },
                "velocity": {
                    "x": 1.265345811843872,
                    "y": -7.867878437042236,
                    "z": -0.04496753588318825
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045496940612793,
                "transform": {
                    "location": {
                        "x": 958.4769897460938,
                        "y": 3434.609619140625,
                        "z": 370.44244384765625
                    },
                    "rotation": {
                        "roll": -0.0006713999318890274,
                        "pitch": -0.3656541705131531,
                        "yaw": -80.85676574707031
                    }
                },
                "velocity": {
                    "x": 1.2783995866775513,
                    "y": -7.943130970001221,
                    "z": -0.04879608005285263
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.984125137329102,
                "transform": {
                    "location": {
                        "x": 951.6896362304688,
                        "y": 3476.76025390625,
                        "z": 370.6506652832031
                    },
                    "rotation": {
                        "roll": 0.0031083656940609217,
                        "pitch": -0.25024446845054626,
                        "yaw": -80.81413269042969
                    }
                },
                "velocity": {
                    "x": 1.2745251655578613,
                    "y": -7.881669521331787,
                    "z": -0.0334637351334095
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.583740234375,
                        "y": 3381.792724609375,
                        "z": 370.0204162597656
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.837158203125,
                        "y": 3392.260498046875,
                        "z": 370.12640380859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.039713859558105,
                "transform": {
                    "location": {
                        "x": 965.3139038085938,
                        "y": 3392.12890625,
                        "z": 370.1163330078125
                    },
                    "rotation": {
                        "roll": 0.00027802391559816897,
                        "pitch": -0.5727249979972839,
                        "yaw": -80.85624694824219
                    }
                },
                "velocity": {
                    "x": 1.2764341831207275,
                    "y": -7.937335014343262,
                    "z": -0.08017892390489578
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.032322883605957,
                "transform": {
                    "location": {
                        "x": 968.1822509765625,
                        "y": 3394.75830078125,
                        "z": 370.1754150390625
                    },
                    "rotation": {
                        "roll": 0.00018589127284940332,
                        "pitch": -0.5558749437332153,
                        "yaw": -80.87663269042969
                    }
                },
                "velocity": {
                    "x": 1.275334119796753,
                    "y": -7.930065631866455,
                    "z": -0.0760757327079773
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.9578447341918945,
                "transform": {
                    "location": {
                        "x": 941.3440551757812,
                        "y": 3498.90673828125,
                        "z": 370.7403869628906
                    },
                    "rotation": {
                        "roll": 0.0012250056024640799,
                        "pitch": 0.2731119394302368,
                        "yaw": 99.0942611694336
                    }
                },
                "velocity": {
                    "x": -0.9449976682662964,
                    "y": 5.882386207580566,
                    "z": 0.020646963268518448
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.167129516601562,
                "transform": {
                    "location": {
                        "x": 938.5266723632812,
                        "y": 3516.52001953125,
                        "z": 370.7840881347656
                    },
                    "rotation": {
                        "roll": 0.016529496759176254,
                        "pitch": 0.4112798273563385,
                        "yaw": 99.34386444091797
                    }
                },
                "velocity": {
                    "x": -1.3227332830429077,
                    "y": 8.05927562713623,
                    "z": 0.021457556635141373
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.2905883789062,
                        "y": 3371.18798828125,
                        "z": 369.89874267578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.837662696838379,
                "transform": {
                    "location": {
                        "x": 958.6097412109375,
                        "y": 3412.063720703125,
                        "z": 370.2917785644531
                    },
                    "rotation": {
                        "roll": -0.00030515604885295033,
                        "pitch": 0.5089173913002014,
                        "yaw": 99.14845275878906
                    }
                },
                "velocity": {
                    "x": -1.88210129737854,
                    "y": 11.68675422668457,
                    "z": 0.08778347074985504
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.887871742248535,
                "transform": {
                    "location": {
                        "x": 955.8125,
                        "y": 3429.44482421875,
                        "z": 370.4161376953125
                    },
                    "rotation": {
                        "roll": 0.00017856096383184195,
                        "pitch": 0.2852969765663147,
                        "yaw": 99.13428497314453
                    }
                },
                "velocity": {
                    "x": -2.045915365219116,
                    "y": 12.724185943603516,
                    "z": 0.08101453632116318
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.014927864074707,
                "transform": {
                    "location": {
                        "x": 950.8666381835938,
                        "y": 3460.2685546875,
                        "z": 370.5807800292969
                    },
                    "rotation": {
                        "roll": 0.0006949520902708173,
                        "pitch": 0.25811967253685,
                        "yaw": 98.98500061035156
                    }
                },
                "velocity": {
                    "x": -1.2718325853347778,
                    "y": 7.9132914543151855,
                    "z": 0.03639436513185501
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162574052810669,
                "transform": {
                    "location": {
                        "x": 949.7772216796875,
                        "y": 3441.502685546875,
                        "z": 370.4769592285156
                    },
                    "rotation": {
                        "roll": -0.0001220952399307862,
                        "pitch": 0.5491676926612854,
                        "yaw": 99.13800811767578
                    }
                },
                "velocity": {
                    "x": -0.50214022397995,
                    "y": 3.1224048137664795,
                    "z": 0.01781477965414524
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651511192321777,
                "transform": {
                    "location": {
                        "x": 951.39794921875,
                        "y": 3431.434814453125,
                        "z": 370.4117126464844
                    },
                    "rotation": {
                        "roll": -0.00018310452287551016,
                        "pitch": 0.06291969865560532,
                        "yaw": 99.14271545410156
                    }
                },
                "velocity": {
                    "x": -0.502761960029602,
                    "y": 3.1248979568481445,
                    "z": 0.020617589354515076
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.32022520899772644,
        "expert_target_speed": 10.0,
        "target_point": [
            32.77229425625473,
            -2.286950444834398
        ],
        "target_point_next": [
            83.69211699034038,
            -5.144511941814665
        ]
    },
    "385": {
        "acceleration": [
            3.2031965255737305,
            -0.3037071228027344,
            0.00046581029891967773
        ],
        "angular_velocity": [
            -0.09530138969421387,
            0.15622617304325104,
            -12.247248649597168
        ],
        "forward_vector": [
            -0.15091906487941742,
            0.988542377948761,
            0.0027205911464989185
        ],
        "right_vector": [
            -0.9883334040641785,
            -0.15082892775535583,
            -0.021159524098038673
        ],
        "location": [
            946.4978637695312,
            3464.177490234375,
            370.5978698730469
        ],
        "rotation": [
            1.2124464511871338,
            0.15587857365608215,
            98.68022155761719
        ],
        "velocity": [
            -2.0622291564941406,
            13.553780555725098,
            0.05984780192375183
        ],
        "speed": 13.709768650369206,
        "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": 36.64780807495117,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                941.1000366210938,
                3500.42529296875,
                370.7464294433594
            ],
            "velocity": [
                -1.0278592109680176,
                6.385565757751465,
                0.021349085494875908
            ],
            "speed_kmh": 23.28406985522899,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.923789024353027,
                "transform": {
                    "location": {
                        "x": 947.9154663085938,
                        "y": 3520.28515625,
                        "z": 370.7992248535156
                    },
                    "rotation": {
                        "roll": -0.0005798410275019705,
                        "pitch": -0.152251735329628,
                        "yaw": -80.29615020751953
                    }
                },
                "velocity": {
                    "x": 1.0066717863082886,
                    "y": -5.837609767913818,
                    "z": -0.014153633266687393
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.775638580322266,
                "transform": {
                    "location": {
                        "x": 945.1989135742188,
                        "y": 3516.744384765625,
                        "z": 370.7799072265625
                    },
                    "rotation": {
                        "roll": -0.00036621023900806904,
                        "pitch": -0.15792763233184814,
                        "yaw": -80.17143249511719
                    }
                },
                "velocity": {
                    "x": 1.1377187967300415,
                    "y": -6.679413318634033,
                    "z": -0.01753786951303482
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.0335054397583,
                "transform": {
                    "location": {
                        "x": 954.8677368164062,
                        "y": 3477.46826171875,
                        "z": 370.65447998046875
                    },
                    "rotation": {
                        "roll": -0.000671392132062465,
                        "pitch": -0.24060022830963135,
                        "yaw": -80.80241394042969
                    }
                },
                "velocity": {
                    "x": 1.2815600633621216,
                    "y": -7.930558681488037,
                    "z": -0.032399456948041916
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990517616271973,
                "transform": {
                    "location": {
                        "x": 961.555419921875,
                        "y": 3435.933349609375,
                        "z": 370.4396057128906
                    },
                    "rotation": {
                        "roll": -0.0018615549197420478,
                        "pitch": -0.350955605506897,
                        "yaw": -80.86370086669922
                    }
                },
                "velocity": {
                    "x": 1.2686030864715576,
                    "y": -7.889017581939697,
                    "z": -0.049165986478328705
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041752815246582,
                "transform": {
                    "location": {
                        "x": 958.796630859375,
                        "y": 3432.624267578125,
                        "z": 370.42962646484375
                    },
                    "rotation": {
                        "roll": 0.0013063813094049692,
                        "pitch": -0.3727097511291504,
                        "yaw": -80.85404968261719
                    }
                },
                "velocity": {
                    "x": 1.2769811153411865,
                    "y": -7.939538955688477,
                    "z": -0.05315680801868439
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.101457595825195,
                "transform": {
                    "location": {
                        "x": 952.011474609375,
                        "y": 3474.769287109375,
                        "z": 370.6423034667969
                    },
                    "rotation": {
                        "roll": 0.0008780928328633308,
                        "pitch": -0.2232925295829773,
                        "yaw": -80.80667114257812
                    }
                },
                "velocity": {
                    "x": 1.292392373085022,
                    "y": -7.997637748718262,
                    "z": -0.033638108521699905
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.3189697265625,
                        "y": 3383.43798828125,
                        "z": 370.03814697265625
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.376708984375,
                        "y": 3395.463134765625,
                        "z": 370.15814208984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86216,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 965.5540161132812,
                        "y": 3390.060302734375,
                        "z": 370.10107421875
                    },
                    "rotation": {
                        "roll": -2.668186027676711e-08,
                        "pitch": -0.5941991209983826,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.4579467773438,
                        "y": 3392.709228515625,
                        "z": 370.1379699707031
                    },
                    "rotation": {
                        "roll": -2.6681693299224207e-08,
                        "pitch": -0.55865478515625,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.46779727935791,
                "transform": {
                    "location": {
                        "x": 941.1000366210938,
                        "y": 3500.42529296875,
                        "z": 370.7464294433594
                    },
                    "rotation": {
                        "roll": -0.0002746559912338853,
                        "pitch": 0.1562405675649643,
                        "yaw": 99.14515686035156
                    }
                },
                "velocity": {
                    "x": -1.0278592109680176,
                    "y": 6.385565757751465,
                    "z": 0.021349085494875908
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.811398506164551,
                "transform": {
                    "location": {
                        "x": 938.2071533203125,
                        "y": 3518.46923828125,
                        "z": 370.79052734375
                    },
                    "rotation": {
                        "roll": 0.012836713343858719,
                        "pitch": 0.13215048611164093,
                        "yaw": 99.30099487304688
                    }
                },
                "velocity": {
                    "x": -1.257123589515686,
                    "y": 7.7095489501953125,
                    "z": 0.021060390397906303
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.8934326171875,
                        "y": 3373.655517578125,
                        "z": 369.9276428222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.879741668701172,
                "transform": {
                    "location": {
                        "x": 958.1163940429688,
                        "y": 3415.1279296875,
                        "z": 370.3141174316406
                    },
                    "rotation": {
                        "roll": 0.0016482023056596518,
                        "pitch": 0.5371465086936951,
                        "yaw": 99.14704895019531
                    }
                },
                "velocity": {
                    "x": -2.046259641647339,
                    "y": 12.71583080291748,
                    "z": 0.09072013944387436
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.676955223083496,
                "transform": {
                    "location": {
                        "x": 955.296875,
                        "y": 3432.652099609375,
                        "z": 370.4361877441406
                    },
                    "rotation": {
                        "roll": -0.00042725587263703346,
                        "pitch": 0.36952686309814453,
                        "yaw": 99.13420104980469
                    }
                },
                "velocity": {
                    "x": -2.0123517513275146,
                    "y": 12.515942573547363,
                    "z": 0.08260513097047806
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.545060157775879,
                "transform": {
                    "location": {
                        "x": 950.5410766601562,
                        "y": 3462.29345703125,
                        "z": 370.5900573730469
                    },
                    "rotation": {
                        "roll": -0.0022582928650081158,
                        "pitch": 0.31866928935050964,
                        "yaw": 99.0171890258789
                    }
                },
                "velocity": {
                    "x": -1.3569141626358032,
                    "y": 8.436552047729492,
                    "z": 0.03781900182366371
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162639617919922,
                "transform": {
                    "location": {
                        "x": 949.651611328125,
                        "y": 3442.282958984375,
                        "z": 370.48150634765625
                    },
                    "rotation": {
                        "roll": -0.0020752190612256527,
                        "pitch": 0.5500214695930481,
                        "yaw": 99.13789367675781
                    }
                },
                "velocity": {
                    "x": -0.5021179914474487,
                    "y": 3.122476100921631,
                    "z": 0.017583055421710014
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.16506028175354,
                "transform": {
                    "location": {
                        "x": 951.272216796875,
                        "y": 3432.216064453125,
                        "z": 370.4167785644531
                    },
                    "rotation": {
                        "roll": 0.0025873789563775063,
                        "pitch": 0.06332951039075851,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": -0.5030770897865295,
                    "y": 3.124756097793579,
                    "z": 0.02049112319946289
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.18575502932071686,
        "expert_target_speed": 10.0,
        "target_point": [
            29.40210228521242,
            -0.2918437628445867
        ],
        "target_point_next": [
            80.40038380656353,
            0.11960106790197855
        ]
    },
    "390": {
        "acceleration": [
            1.7203760147094727,
            -0.5121040344238281,
            -0.005012303590774536
        ],
        "angular_velocity": [
            -0.12311332672834396,
            1.3694499731063843,
            -6.3896708488464355
        ],
        "forward_vector": [
            -0.11112754791975021,
            0.9938023686408997,
            0.002736087888479233
        ],
        "right_vector": [
            -0.9936692118644714,
            -0.11106610298156738,
            -0.016907554119825363
        ],
        "location": [
            946.052001953125,
            3467.55078125,
            370.6121520996094
        ],
        "rotation": [
            0.9687812924385071,
            0.15676648914813995,
            96.38034057617188
        ],
        "velocity": [
            -1.5017205476760864,
            13.443037986755371,
            0.05616847798228264
        ],
        "speed": 13.526656457405151,
        "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": 34.96030807495117,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                940.8270874023438,
                3502.1181640625,
                370.7525329589844
            ],
            "velocity": [
                -1.2382574081420898,
                7.683193206787109,
                0.022350186482071877
            ],
            "speed_kmh": 28.0165218175002,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.7318525314331055,
                "transform": {
                    "location": {
                        "x": 948.1661376953125,
                        "y": 3518.82080078125,
                        "z": 370.7949523925781
                    },
                    "rotation": {
                        "roll": -0.008331296034157276,
                        "pitch": -0.12518370151519775,
                        "yaw": -80.30487823486328
                    }
                },
                "velocity": {
                    "x": 0.9459088444709778,
                    "y": -5.653237342834473,
                    "z": -0.01721842773258686
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.254506587982178,
                "transform": {
                    "location": {
                        "x": 945.4713745117188,
                        "y": 3515.146484375,
                        "z": 370.7757263183594
                    },
                    "rotation": {
                        "roll": -0.0012512244284152985,
                        "pitch": -0.17495527863502502,
                        "yaw": -80.29570007324219
                    }
                },
                "velocity": {
                    "x": 1.0443572998046875,
                    "y": -6.166674613952637,
                    "z": -0.017244920134544373
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.028141975402832,
                "transform": {
                    "location": {
                        "x": 955.1875610351562,
                        "y": 3475.490478515625,
                        "z": 370.6461181640625
                    },
                    "rotation": {
                        "roll": -0.0002746639074757695,
                        "pitch": -0.23339438438415527,
                        "yaw": -80.81494140625
                    }
                },
                "velocity": {
                    "x": 1.2789440155029297,
                    "y": -7.925543785095215,
                    "z": -0.033526334911584854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.0549955368042,
                "transform": {
                    "location": {
                        "x": 961.8741455078125,
                        "y": 3433.951904296875,
                        "z": 370.42718505859375
                    },
                    "rotation": {
                        "roll": 0.0009504833724349737,
                        "pitch": -0.3712480962276459,
                        "yaw": -80.86321258544922
                    }
                },
                "velocity": {
                    "x": 1.27903151512146,
                    "y": -7.952637195587158,
                    "z": -0.05083639174699783
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.046086311340332,
                "transform": {
                    "location": {
                        "x": 959.1161499023438,
                        "y": 3430.638916015625,
                        "z": 370.4166259765625
                    },
                    "rotation": {
                        "roll": 0.00116901402361691,
                        "pitch": -0.3713095486164093,
                        "yaw": -80.85636138916016
                    }
                },
                "velocity": {
                    "x": 1.2786935567855835,
                    "y": -7.94365930557251,
                    "z": -0.052204396575689316
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.011710166931152,
                "transform": {
                    "location": {
                        "x": 952.3324584960938,
                        "y": 3472.781494140625,
                        "z": 370.6339416503906
                    },
                    "rotation": {
                        "roll": 0.001800411962904036,
                        "pitch": -0.24847543239593506,
                        "yaw": -80.8408203125
                    }
                },
                "velocity": {
                    "x": 1.2760531902313232,
                    "y": -7.909365653991699,
                    "z": -0.03332275152206421
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.9219970703125,
                        "y": 3385.905517578125,
                        "z": 370.0644836425781
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.8764038085938,
                        "y": 3398.601806640625,
                        "z": 370.1863098144531
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86217,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 968.7487182617188,
                        "y": 3390.647216796875,
                        "z": 370.1041564941406
                    },
                    "rotation": {
                        "roll": -2.668186027676711e-08,
                        "pitch": -0.5941991209983826,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.78236722946167,
                "transform": {
                    "location": {
                        "x": 940.8270874023438,
                        "y": 3502.1181640625,
                        "z": 370.7525329589844
                    },
                    "rotation": {
                        "roll": 0.00017465351265855134,
                        "pitch": 0.06444966048002243,
                        "yaw": 99.09800720214844
                    }
                },
                "velocity": {
                    "x": -1.2382574081420898,
                    "y": 7.683193206787109,
                    "z": 0.022350186482071877
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.168971061706543,
                "transform": {
                    "location": {
                        "x": 937.885498046875,
                        "y": 3520.445556640625,
                        "z": 370.795654296875
                    },
                    "rotation": {
                        "roll": 0.010713082738220692,
                        "pitch": 0.23711000382900238,
                        "yaw": 99.24136352539062
                    }
                },
                "velocity": {
                    "x": -1.3095697164535522,
                    "y": 8.0632905960083,
                    "z": 0.021351126953959465
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.6287231445312,
                        "y": 3375.300537109375,
                        "z": 369.9468994140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6624873280525208,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.336840629577637,
                "transform": {
                    "location": {
                        "x": 957.614013671875,
                        "y": 3418.249267578125,
                        "z": 370.3353576660156
                    },
                    "rotation": {
                        "roll": -0.00021366114378906786,
                        "pitch": 0.3637485206127167,
                        "yaw": 99.13873291015625
                    }
                },
                "velocity": {
                    "x": -1.95879328250885,
                    "y": 12.180054664611816,
                    "z": 0.08392896503210068
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.638923645019531,
                "transform": {
                    "location": {
                        "x": 954.7985229492188,
                        "y": 3435.751708984375,
                        "z": 370.4559020996094
                    },
                    "rotation": {
                        "roll": -0.0007324318285100162,
                        "pitch": 0.35557278990745544,
                        "yaw": 99.13416290283203
                    }
                },
                "velocity": {
                    "x": -2.006296396255493,
                    "y": 12.478442192077637,
                    "z": 0.07519576698541641
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.6314697265625,
                "transform": {
                    "location": {
                        "x": 950.17919921875,
                        "y": 3464.5361328125,
                        "z": 370.6000061035156
                    },
                    "rotation": {
                        "roll": -0.0029602099675685167,
                        "pitch": 0.3945390284061432,
                        "yaw": 99.13978576660156
                    }
                },
                "velocity": {
                    "x": -1.5393232107162476,
                    "y": 9.507575035095215,
                    "z": 0.041400469839572906
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1627633571624756,
                "transform": {
                    "location": {
                        "x": 949.5260620117188,
                        "y": 3443.06298828125,
                        "z": 370.486083984375
                    },
                    "rotation": {
                        "roll": 0.001129461219534278,
                        "pitch": 0.5503561496734619,
                        "yaw": 99.13777160644531
                    }
                },
                "velocity": {
                    "x": -0.5021252036094666,
                    "y": 3.1225998401641846,
                    "z": 0.017724208533763885
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1651077270507812,
                "transform": {
                    "location": {
                        "x": 951.146484375,
                        "y": 3432.997314453125,
                        "z": 370.42193603515625
                    },
                    "rotation": {
                        "roll": 0.004425988532602787,
                        "pitch": 0.06544003635644913,
                        "yaw": 99.14305877685547
                    }
                },
                "velocity": {
                    "x": -0.5029075741767883,
                    "y": 3.1248233318328857,
                    "z": 0.021659497171640396
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.06665215641260147,
        "expert_target_speed": 10.0,
        "target_point": [
            25.988184219133693,
            0.8200795939713537
        ],
        "target_point_next": [
            76.92887227703115,
            3.277782824166831
        ]
    },
    "395": {
        "acceleration": [
            0.3105020523071289,
            -0.7205963134765625,
            -0.0005242973566055298
        ],
        "angular_velocity": [
            -0.1672295480966568,
            1.8034498691558838,
            -1.3556861877441406
        ],
        "forward_vector": [
            -0.09359543025493622,
            0.9956063032150269,
            0.0028307398315519094
        ],
        "right_vector": [
            -0.9955616593360901,
            -0.09356235712766647,
            -0.010155443102121353
        ],
        "location": [
            945.7083129882812,
            3470.89208984375,
            370.6258850097656
        ],
        "rotation": [
            0.5818763375282288,
            0.16218966245651245,
            95.3705062866211
        ],
        "velocity": [
            -1.2635928392410278,
            13.290453910827637,
            0.05654430389404297
        ],
        "speed": 13.350386961403583,
        "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": 33.67131423950195,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                940.4989013671875,
                3504.15771484375,
                370.7584228515625
            ],
            "velocity": [
                -1.3190184831619263,
                8.195215225219727,
                0.02476932480931282
            ],
            "speed_kmh": 29.88259706290562,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.836883068084717,
                "transform": {
                    "location": {
                        "x": 948.4013061523438,
                        "y": 3517.41650390625,
                        "z": 370.7912292480469
                    },
                    "rotation": {
                        "roll": -0.0037841734010726213,
                        "pitch": -0.1636376678943634,
                        "yaw": -80.4287338256836
                    }
                },
                "velocity": {
                    "x": 0.9586182832717896,
                    "y": -5.757598876953125,
                    "z": -0.017551755532622337
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.7013678550720215,
                "transform": {
                    "location": {
                        "x": 945.7389526367188,
                        "y": 3513.5673828125,
                        "z": 370.77105712890625
                    },
                    "rotation": {
                        "roll": -0.0006408726330846548,
                        "pitch": -0.1476755142211914,
                        "yaw": -80.40396881103516
                    }
                },
                "velocity": {
                    "x": 1.106992244720459,
                    "y": -6.609280109405518,
                    "z": -0.01783074252307415
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.02060604095459,
                "transform": {
                    "location": {
                        "x": 955.5073852539062,
                        "y": 3473.509521484375,
                        "z": 370.6378479003906
                    },
                    "rotation": {
                        "roll": 0.00020174581732135266,
                        "pitch": -0.24072317779064178,
                        "yaw": -80.82749938964844
                    }
                },
                "velocity": {
                    "x": 1.278260588645935,
                    "y": -7.918022155761719,
                    "z": -0.03304962068796158
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.011661529541016,
                "transform": {
                    "location": {
                        "x": 962.1930541992188,
                        "y": 3431.96875,
                        "z": 370.4142150878906
                    },
                    "rotation": {
                        "roll": 0.0005492013297043741,
                        "pitch": -0.370387464761734,
                        "yaw": -80.86311340332031
                    }
                },
                "velocity": {
                    "x": 1.2721810340881348,
                    "y": -7.909836292266846,
                    "z": -0.05254161357879639
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041816711425781,
                "transform": {
                    "location": {
                        "x": 959.4356079101562,
                        "y": 3428.653564453125,
                        "z": 370.4037170410156
                    },
                    "rotation": {
                        "roll": 0.0011533922515809536,
                        "pitch": -0.37136420607566833,
                        "yaw": -80.85991668701172
                    }
                },
                "velocity": {
                    "x": 1.2773995399475098,
                    "y": -7.939542770385742,
                    "z": -0.05216611921787262
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040396690368652,
                "transform": {
                    "location": {
                        "x": 952.6516723632812,
                        "y": 3470.802978515625,
                        "z": 370.6256408691406
                    },
                    "rotation": {
                        "roll": 0.001047775847837329,
                        "pitch": -0.236146941781044,
                        "yaw": -80.82298278808594
                    }
                },
                "velocity": {
                    "x": 1.2804044485092163,
                    "y": -7.937722682952881,
                    "z": -0.03312696889042854
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.6571655273438,
                        "y": 3387.550537109375,
                        "z": 370.0812072753906
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.3955078125,
                        "y": 3401.6025390625,
                        "z": 370.2121887207031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.300721168518066,
                "transform": {
                    "location": {
                        "x": 940.4989013671875,
                        "y": 3504.15771484375,
                        "z": 370.7584228515625
                    },
                    "rotation": {
                        "roll": -0.00039672834100201726,
                        "pitch": 0.08341026306152344,
                        "yaw": 99.12185668945312
                    }
                },
                "velocity": {
                    "x": -1.3190184831619263,
                    "y": 8.195215225219727,
                    "z": 0.02476932480931282
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.989814758300781,
                "transform": {
                    "location": {
                        "x": 937.5606689453125,
                        "y": 3522.44482421875,
                        "z": 370.8013610839844
                    },
                    "rotation": {
                        "roll": 0.004860630724579096,
                        "pitch": 0.15428712964057922,
                        "yaw": 99.22633361816406
                    }
                },
                "velocity": {
                    "x": -1.2808665037155151,
                    "y": 7.88645076751709,
                    "z": 0.020522689446806908
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.2315673828125,
                        "y": 3377.768310546875,
                        "z": 369.9752197265625
                    },
                    "rotation": {
                        "roll": -2.668203791245105e-08,
                        "pitch": 0.6296819448471069,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.882950782775879,
                "transform": {
                    "location": {
                        "x": 957.1336669921875,
                        "y": 3421.236572265625,
                        "z": 370.35577392578125
                    },
                    "rotation": {
                        "roll": 6.376727469614707e-06,
                        "pitch": 0.33019864559173584,
                        "yaw": 99.13562774658203
                    }
                },
                "velocity": {
                    "x": -1.8859046697616577,
                    "y": 11.732075691223145,
                    "z": 0.07928365468978882
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.950223922729492,
                "transform": {
                    "location": {
                        "x": 954.311767578125,
                        "y": 3438.778564453125,
                        "z": 370.4735412597656
                    },
                    "rotation": {
                        "roll": 0.0008768179686740041,
                        "pitch": 0.37914377450942993,
                        "yaw": 99.13400268554688
                    }
                },
                "velocity": {
                    "x": -1.8970247507095337,
                    "y": 11.798492431640625,
                    "z": 0.0686255469918251
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.714522361755371,
                "transform": {
                    "location": {
                        "x": 949.7706298828125,
                        "y": 3467.059814453125,
                        "z": 370.6107482910156
                    },
                    "rotation": {
                        "roll": -0.0030212339479476213,
                        "pitch": 0.4061981439590454,
                        "yaw": 99.21353912353516
                    }
                },
                "velocity": {
                    "x": -1.713836431503296,
                    "y": 10.576473236083984,
                    "z": 0.044307783246040344
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1629931926727295,
                "transform": {
                    "location": {
                        "x": 949.4005126953125,
                        "y": 3443.84326171875,
                        "z": 370.49053955078125
                    },
                    "rotation": {
                        "roll": -0.00033570820232853293,
                        "pitch": 0.5431912541389465,
                        "yaw": 99.13833618164062
                    }
                },
                "velocity": {
                    "x": -0.5026037693023682,
                    "y": 3.1227571964263916,
                    "z": 0.017399758100509644
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.164964437484741,
                "transform": {
                    "location": {
                        "x": 951.020751953125,
                        "y": 3433.778564453125,
                        "z": 370.4269714355469
                    },
                    "rotation": {
                        "roll": -0.00036621239269152284,
                        "pitch": 0.06201811507344246,
                        "yaw": 99.14324188232422
                    }
                },
                "velocity": {
                    "x": -0.5029787421226501,
                    "y": 3.124668836593628,
                    "z": 0.02135501801967621
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0453612357378006,
        "expert_target_speed": 10.0,
        "target_point": [
            22.61088614582176,
            1.2485122392763826
        ],
        "target_point_next": [
            73.50034879441833,
            4.603597382283022
        ]
    },
    "400": {
        "acceleration": [
            -0.20766973495483398,
            -0.30536651611328125,
            0.004968792200088501
        ],
        "angular_velocity": [
            0.03811534866690636,
            1.1479856967926025,
            2.064584493637085
        ],
        "forward_vector": [
            -0.09659305959939957,
            0.9953193664550781,
            0.0030177785083651543
        ],
        "right_vector": [
            -0.9953187108039856,
            -0.09658230096101761,
            -0.0035288692452013493
        ],
        "location": [
            945.3892211914062,
            3474.1923828125,
            370.6395568847656
        ],
        "rotation": [
            0.20219065248966217,
            0.17290623486042023,
            95.54304504394531
        ],
        "velocity": [
            -1.2790781259536743,
            13.144645690917969,
            0.05578009411692619
        ],
        "speed": 13.206731283404743,
        "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": 32.38444900512695,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                940.1779174804688,
                3506.154541015625,
                370.763427734375
            ],
            "velocity": [
                -1.2592195272445679,
                7.823419094085693,
                0.02391650155186653
            ],
            "speed_kmh": 28.526926124550204,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.925201892852783,
                "transform": {
                    "location": {
                        "x": 948.6651611328125,
                        "y": 3515.83642578125,
                        "z": 370.7873840332031
                    },
                    "rotation": {
                        "roll": -0.0028381282463669777,
                        "pitch": -0.2402040809392929,
                        "yaw": -80.5431900024414
                    }
                },
                "velocity": {
                    "x": 1.1341255903244019,
                    "y": -6.831679344177246,
                    "z": -0.018305206671357155
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.590811252593994,
                "transform": {
                    "location": {
                        "x": 946.0365600585938,
                        "y": 3511.7841796875,
                        "z": 370.7659606933594
                    },
                    "rotation": {
                        "roll": 0.0018495385302230716,
                        "pitch": -0.12972576916217804,
                        "yaw": -80.5720443725586
                    }
                },
                "velocity": {
                    "x": 1.235774040222168,
                    "y": -7.4895148277282715,
                    "z": -0.02121233381330967
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065388679504395,
                "transform": {
                    "location": {
                        "x": 955.8276977539062,
                        "y": 3471.5234375,
                        "z": 370.62945556640625
                    },
                    "rotation": {
                        "roll": -0.0007934691966511309,
                        "pitch": -0.23608547449111938,
                        "yaw": -80.83995056152344
                    }
                },
                "velocity": {
                    "x": 1.2838391065597534,
                    "y": -7.962482929229736,
                    "z": -0.03344389423727989
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.034012794494629,
                "transform": {
                    "location": {
                        "x": 962.5115356445312,
                        "y": 3429.98828125,
                        "z": 370.4012451171875
                    },
                    "rotation": {
                        "roll": 0.0012136244913563132,
                        "pitch": -0.3701484203338623,
                        "yaw": -80.8604507446289
                    }
                },
                "velocity": {
                    "x": 1.2761614322662354,
                    "y": -7.931835174560547,
                    "z": -0.05265365540981293
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044885635375977,
                "transform": {
                    "location": {
                        "x": 959.7550659179688,
                        "y": 3426.668701171875,
                        "z": 370.390625
                    },
                    "rotation": {
                        "roll": 0.0005789375863969326,
                        "pitch": -0.37524375319480896,
                        "yaw": -80.86033630371094
                    }
                },
                "velocity": {
                    "x": 1.277875304222107,
                    "y": -7.942568302154541,
                    "z": -0.05311407521367073
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05567741394043,
                "transform": {
                    "location": {
                        "x": 952.9721069335938,
                        "y": 3468.81396484375,
                        "z": 370.6173095703125
                    },
                    "rotation": {
                        "roll": 0.002081531099975109,
                        "pitch": -0.2364201545715332,
                        "yaw": -80.86193084716797
                    }
                },
                "velocity": {
                    "x": 1.2798795700073242,
                    "y": -7.953288555145264,
                    "z": -0.03235827013850212
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.2601318359375,
                        "y": 3390.018310546875,
                        "z": 370.1063232421875
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.9312133789062,
                        "y": 3404.4892578125,
                        "z": 370.2362365722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 939.333251953125,
                        "y": 3552.934326171875,
                        "z": 371.115966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.06988649070262909,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9241461753845215,
                "transform": {
                    "location": {
                        "x": 940.1779174804688,
                        "y": 3506.154541015625,
                        "z": 370.763427734375
                    },
                    "rotation": {
                        "roll": -0.00018310878658667207,
                        "pitch": 0.19161412119865417,
                        "yaw": 99.13060760498047
                    }
                },
                "velocity": {
                    "x": -1.2592195272445679,
                    "y": 7.823419094085693,
                    "z": 0.02391650155186653
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.9975996017456055,
                "transform": {
                    "location": {
                        "x": 937.2424926757812,
                        "y": 3524.40869140625,
                        "z": 370.8065490722656
                    },
                    "rotation": {
                        "roll": 0.006590215489268303,
                        "pitch": 0.13109181821346283,
                        "yaw": 99.20020294189453
                    }
                },
                "velocity": {
                    "x": -1.2768158912658691,
                    "y": 7.894991874694824,
                    "z": 0.021071165800094604
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.9668579101562,
                        "y": 3379.413330078125,
                        "z": 369.9939880371094
                    },
                    "rotation": {
                        "roll": -2.668203791245105e-08,
                        "pitch": 0.6296819448471069,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.547525405883789,
                "transform": {
                    "location": {
                        "x": 956.6714477539062,
                        "y": 3424.11279296875,
                        "z": 370.37542724609375
                    },
                    "rotation": {
                        "roll": -0.00033569883089512587,
                        "pitch": 0.33448800444602966,
                        "yaw": 99.12725067138672
                    }
                },
                "velocity": {
                    "x": -1.8322113752365112,
                    "y": 11.40096664428711,
                    "z": 0.07936239242553711
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.400708198547363,
                "transform": {
                    "location": {
                        "x": 953.8306884765625,
                        "y": 3441.770751953125,
                        "z": 370.49151611328125
                    },
                    "rotation": {
                        "roll": -6.10590068390593e-05,
                        "pitch": 0.3034721314907074,
                        "yaw": 99.13410186767578
                    }
                },
                "velocity": {
                    "x": -1.9684494733810425,
                    "y": 12.24327564239502,
                    "z": 0.0705835297703743
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.971307754516602,
                "transform": {
                    "location": {
                        "x": 949.3329467773438,
                        "y": 3469.760009765625,
                        "z": 370.6219787597656
                    },
                    "rotation": {
                        "roll": -0.0005188085488043725,
                        "pitch": 0.3127201795578003,
                        "yaw": 99.20233917236328
                    }
                },
                "velocity": {
                    "x": -1.754089593887329,
                    "y": 10.830081939697266,
                    "z": 0.045694053173065186
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162904977798462,
                "transform": {
                    "location": {
                        "x": 949.27490234375,
                        "y": 3444.623779296875,
                        "z": 370.4948425292969
                    },
                    "rotation": {
                        "roll": 0.0015165760414674878,
                        "pitch": 0.5125237107276917,
                        "yaw": 99.13827514648438
                    }
                },
                "velocity": {
                    "x": -0.5022074580192566,
                    "y": 3.1227307319641113,
                    "z": 0.017536286264657974
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1648457050323486,
                "transform": {
                    "location": {
                        "x": 950.8950805664062,
                        "y": 3434.559814453125,
                        "z": 370.43194580078125
                    },
                    "rotation": {
                        "roll": -0.0035095210187137127,
                        "pitch": 0.0419851690530777,
                        "yaw": 99.14242553710938
                    }
                },
                "velocity": {
                    "x": -0.502379834651947,
                    "y": 3.1246583461761475,
                    "z": 0.019346769899129868
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.12238351255655289,
        "expert_target_speed": 10.0,
        "target_point": [
            19.29886046961095,
            1.181606687688339
        ],
        "target_point_next": [
            70.19819530517898,
            4.383437144857923
        ]
    },
    "405": {
        "acceleration": [
            -0.7596111297607422,
            1.5271377563476562,
            -0.01069590449333191
        ],
        "angular_velocity": [
            0.47358325123786926,
            0.7422760128974915,
            2.2165474891662598
        ],
        "forward_vector": [
            -0.10548681765794754,
            0.9944100379943848,
            0.004609687719494104
        ],
        "right_vector": [
            -0.9944199919700623,
            -0.1054910197854042,
            0.0006780331605114043
        ],
        "location": [
            945.0524291992188,
            3477.493408203125,
            370.6529235839844
        ],
        "rotation": [
            -0.03884885460138321,
            0.2641165852546692,
            96.05528259277344
        ],
        "velocity": [
            -1.4270676374435425,
            13.332711219787598,
            0.05578060820698738
        ],
        "speed": 13.408866861599035,
        "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": 31.051054000854492,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                939.8638305664062,
                3508.107666015625,
                370.76947021484375
            ],
            "velocity": [
                -1.2681881189346313,
                7.884651184082031,
                0.02119090035557747
            ],
            "speed_kmh": 28.74966276189491,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.4741821289062,
                        "y": 3553.8720703125,
                        "z": 370.91552734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.06988649070262909,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.300480842590332,
                "transform": {
                    "location": {
                        "x": 948.9682006835938,
                        "y": 3514.012939453125,
                        "z": 370.782958984375
                    },
                    "rotation": {
                        "roll": -0.004211433697491884,
                        "pitch": -0.31164786219596863,
                        "yaw": -80.57987976074219
                    }
                },
                "velocity": {
                    "x": 1.343611717224121,
                    "y": -8.190982818603516,
                    "z": -0.022019224241375923
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.70760440826416,
                "transform": {
                    "location": {
                        "x": 946.368408203125,
                        "y": 3509.7724609375,
                        "z": 370.7601013183594
                    },
                    "rotation": {
                        "roll": 0.0007866342202760279,
                        "pitch": -0.12698687613010406,
                        "yaw": -80.70125579833984
                    }
                },
                "velocity": {
                    "x": 1.40784752368927,
                    "y": -8.593001365661621,
                    "z": -0.025799259543418884
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.998824119567871,
                "transform": {
                    "location": {
                        "x": 956.1470947265625,
                        "y": 3469.541748046875,
                        "z": 370.6211242675781
                    },
                    "rotation": {
                        "roll": -0.0016479571349918842,
                        "pitch": -0.2361128032207489,
                        "yaw": -80.84367370605469
                    }
                },
                "velocity": {
                    "x": 1.272757887840271,
                    "y": -7.896847248077393,
                    "z": -0.03283102437853813
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.003535270690918,
                "transform": {
                    "location": {
                        "x": 962.8299560546875,
                        "y": 3428.00927734375,
                        "z": 370.3883056640625
                    },
                    "rotation": {
                        "roll": 0.0006980144535191357,
                        "pitch": -0.3697795867919922,
                        "yaw": -80.85719299316406
                    }
                },
                "velocity": {
                    "x": 1.2716827392578125,
                    "y": -7.901686668395996,
                    "z": -0.05231945961713791
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04308032989502,
                "transform": {
                    "location": {
                        "x": 960.0744018554688,
                        "y": 3424.683349609375,
                        "z": 370.3773498535156
                    },
                    "rotation": {
                        "roll": 0.00019985431572422385,
                        "pitch": -0.3881186544895172,
                        "yaw": -80.86040496826172
                    }
                },
                "velocity": {
                    "x": 1.277576208114624,
                    "y": -7.940786361694336,
                    "z": -0.05349373817443848
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.027339935302734,
                "transform": {
                    "location": {
                        "x": 953.2915649414062,
                        "y": 3466.83056640625,
                        "z": 370.6089782714844
                    },
                    "rotation": {
                        "roll": -0.0006408829358406365,
                        "pitch": -0.2430727630853653,
                        "yaw": -80.84036254882812
                    }
                },
                "velocity": {
                    "x": 1.2772910594940186,
                    "y": -7.924999237060547,
                    "z": -0.03298718482255936
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.8735961914062,
                        "y": 3392.420166015625,
                        "z": 370.1295166015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.4660034179688,
                        "y": 3407.37939453125,
                        "z": 370.2586669921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 939.6637573242188,
                        "y": 3550.881103515625,
                        "z": 370.9911193847656
                    },
                    "rotation": {
                        "roll": 3.3350566752687882e-09,
                        "pitch": -0.08414109796285629,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.986017227172852,
                "transform": {
                    "location": {
                        "x": 939.8638305664062,
                        "y": 3508.107666015625,
                        "z": 370.76947021484375
                    },
                    "rotation": {
                        "roll": 0.0009106332436203957,
                        "pitch": 0.16256532073020935,
                        "yaw": 99.13573455810547
                    }
                },
                "velocity": {
                    "x": -1.2681881189346313,
                    "y": 7.884651184082031,
                    "z": 0.02119090035557747
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.069488525390625,
                "transform": {
                    "location": {
                        "x": 936.921142578125,
                        "y": 3526.397216796875,
                        "z": 370.81146240234375
                    },
                    "rotation": {
                        "roll": 0.004143681842833757,
                        "pitch": 0.17080935835838318,
                        "yaw": 99.17596435546875
                    }
                },
                "velocity": {
                    "x": -1.286582589149475,
                    "y": 7.966235637664795,
                    "z": 0.020952071994543076
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.5697631835938,
                        "y": 3381.881103515625,
                        "z": 370.0213928222656
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.069843292236328,
                "transform": {
                    "location": {
                        "x": 956.2040405273438,
                        "y": 3427.019287109375,
                        "z": 370.39501953125
                    },
                    "rotation": {
                        "roll": -0.0003662121598608792,
                        "pitch": 0.4228843152523041,
                        "yaw": 99.14569854736328
                    }
                },
                "velocity": {
                    "x": -1.9173073768615723,
                    "y": 11.916321754455566,
                    "z": 0.07946474105119705
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.189632415771484,
                "transform": {
                    "location": {
                        "x": 953.3344116210938,
                        "y": 3444.85498046875,
                        "z": 370.5090026855469
                    },
                    "rotation": {
                        "roll": 0.0006375524098984897,
                        "pitch": 0.32654449343681335,
                        "yaw": 99.14392852783203
                    }
                },
                "velocity": {
                    "x": -1.9372026920318604,
                    "y": 12.034542083740234,
                    "z": 0.06466718763113022
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.915095329284668,
                "transform": {
                    "location": {
                        "x": 948.896240234375,
                        "y": 3472.4560546875,
                        "z": 370.6332092285156
                    },
                    "rotation": {
                        "roll": 0.00026020334917120636,
                        "pitch": 0.2517061233520508,
                        "yaw": 99.2036361694336
                    }
                },
                "velocity": {
                    "x": -1.7441378831863403,
                    "y": 10.774751663208008,
                    "z": 0.04489247128367424
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1630048751831055,
                "transform": {
                    "location": {
                        "x": 949.1493530273438,
                        "y": 3445.403564453125,
                        "z": 370.4989013671875
                    },
                    "rotation": {
                        "roll": -0.0009460456785745919,
                        "pitch": 0.5124076008796692,
                        "yaw": 99.13865661621094
                    }
                },
                "velocity": {
                    "x": -0.5024396777153015,
                    "y": 3.1227972507476807,
                    "z": 0.017078494653105736
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1648693084716797,
                "transform": {
                    "location": {
                        "x": 950.769287109375,
                        "y": 3435.3408203125,
                        "z": 370.43670654296875
                    },
                    "rotation": {
                        "roll": 0.001153271528892219,
                        "pitch": 0.025012152269482613,
                        "yaw": 99.14263916015625
                    }
                },
                "velocity": {
                    "x": -0.5028775930404663,
                    "y": 3.124610424041748,
                    "z": 0.017947930842638016
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.19107812643051147,
        "expert_target_speed": 10.0,
        "target_point": [
            15.990518058972501,
            1.0223267182945701
        ],
        "target_point_next": [
            66.91644412083043,
            3.7689718941243155
        ]
    },
    "410": {
        "acceleration": [
            -0.9723687171936035,
            2.487506866455078,
            0.007738322019577026
        ],
        "angular_velocity": [
            0.4705410301685333,
            0.4498565196990967,
            2.8697681427001953
        ],
        "forward_vector": [
            -0.11750359833240509,
            0.9930477738380432,
            0.007003607228398323
        ],
        "right_vector": [
            -0.9930655360221863,
            -0.1175261065363884,
            0.0028937160968780518
        ],
        "location": [
            944.6685791015625,
            3480.89501953125,
            370.6661682128906
        ],
        "rotation": [
            -0.165802001953125,
            0.4012804329395294,
            96.74821472167969
        ],
        "velocity": [
            -1.652005672454834,
            13.882255554199219,
            0.0564500130712986
        ],
        "speed": 13.980205363796271,
        "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": 29.654850006103516,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                939.5425415039062,
                3510.103271484375,
                370.7752380371094
            ],
            "velocity": [
                -1.289267897605896,
                8.009937286376953,
                0.02219930663704872
            ],
            "speed_kmh": 29.20702871041566,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.8051147460938,
                        "y": 3551.814697265625,
                        "z": 370.8907470703125
                    },
                    "rotation": {
                        "roll": 3.3350566752687882e-09,
                        "pitch": -0.08414109796285629,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.267709732055664,
                "transform": {
                    "location": {
                        "x": 949.3091430664062,
                        "y": 3511.933349609375,
                        "z": 370.7760925292969
                    },
                    "rotation": {
                        "roll": -0.0031127948313951492,
                        "pitch": -0.18600653111934662,
                        "yaw": -80.68203735351562
                    }
                },
                "velocity": {
                    "x": 1.3325799703598022,
                    "y": -8.159581184387207,
                    "z": -0.022129621356725693
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.251213073730469,
                "transform": {
                    "location": {
                        "x": 946.71044921875,
                        "y": 3507.68310546875,
                        "z": 370.7543640136719
                    },
                    "rotation": {
                        "roll": 0.000815244042314589,
                        "pitch": -0.17147871851921082,
                        "yaw": -80.75988006591797
                    }
                },
                "velocity": {
                    "x": 1.3259185552597046,
                    "y": -8.14394474029541,
                    "z": -0.025012249127030373
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.068146705627441,
                "transform": {
                    "location": {
                        "x": 956.4666137695312,
                        "y": 3467.55859375,
                        "z": 370.61285400390625
                    },
                    "rotation": {
                        "roll": -0.0010986428242176771,
                        "pitch": -0.23892682790756226,
                        "yaw": -80.84844970703125
                    }
                },
                "velocity": {
                    "x": 1.2830528020858765,
                    "y": -7.9654059410095215,
                    "z": -0.03284786641597748
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.038865089416504,
                "transform": {
                    "location": {
                        "x": 963.1487426757812,
                        "y": 3426.029296875,
                        "z": 370.37506103515625
                    },
                    "rotation": {
                        "roll": -0.00036622362677007914,
                        "pitch": -0.38128846883773804,
                        "yaw": -80.8526382446289
                    }
                },
                "velocity": {
                    "x": 1.2778080701828003,
                    "y": -7.936482906341553,
                    "z": -0.052822764962911606
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044368743896484,
                "transform": {
                    "location": {
                        "x": 960.393798828125,
                        "y": 3422.697998046875,
                        "z": 370.3637390136719
                    },
                    "rotation": {
                        "roll": -0.00036621070466935635,
                        "pitch": -0.39056384563446045,
                        "yaw": -80.8602523803711
                    }
                },
                "velocity": {
                    "x": 1.277734398841858,
                    "y": -7.942069053649902,
                    "z": -0.052890583872795105
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047274589538574,
                "transform": {
                    "location": {
                        "x": 953.6110229492188,
                        "y": 3464.846435546875,
                        "z": 370.6004333496094
                    },
                    "rotation": {
                        "roll": -0.0006408696062862873,
                        "pitch": -0.24368064105510712,
                        "yaw": -80.86506652832031
                    }
                },
                "velocity": {
                    "x": 1.2786200046539307,
                    "y": -7.94497537612915,
                    "z": -0.03340423107147217
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.344970703125,
                        "y": 3395.705810546875,
                        "z": 370.16064453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.9872436523438,
                        "y": 3410.35546875,
                        "z": 370.28143310546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.6282124519348145,
                "transform": {
                    "location": {
                        "x": 939.9873046875,
                        "y": 3548.875244140625,
                        "z": 370.870849609375
                    },
                    "rotation": {
                        "roll": -0.004425044171512127,
                        "pitch": -0.1525864154100418,
                        "yaw": -80.82359313964844
                    }
                },
                "velocity": {
                    "x": 1.087877631187439,
                    "y": -6.530646324157715,
                    "z": -0.3168283700942993
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.11306381225586,
                "transform": {
                    "location": {
                        "x": 939.5425415039062,
                        "y": 3510.103271484375,
                        "z": 370.7752380371094
                    },
                    "rotation": {
                        "roll": -0.00021362425468396395,
                        "pitch": 0.15345385670661926,
                        "yaw": 99.14379119873047
                    }
                },
                "velocity": {
                    "x": -1.289267897605896,
                    "y": 8.009937286376953,
                    "z": 0.02219930663704872
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.003480911254883,
                "transform": {
                    "location": {
                        "x": 936.6012573242188,
                        "y": 3528.37939453125,
                        "z": 370.8166198730469
                    },
                    "rotation": {
                        "roll": 0.002730695763602853,
                        "pitch": 0.1358456313610077,
                        "yaw": 99.16673278808594
                    }
                },
                "velocity": {
                    "x": -1.2749608755111694,
                    "y": 7.90125036239624,
                    "z": 0.020656051114201546
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 963.3048095703125,
                        "y": 3383.526123046875,
                        "z": 370.03912353515625
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.839849472045898,
                "transform": {
                    "location": {
                        "x": 955.7260131835938,
                        "y": 3429.989501953125,
                        "z": 370.4142761230469
                    },
                    "rotation": {
                        "roll": 0.000530417135450989,
                        "pitch": 0.3563651144504547,
                        "yaw": 99.1382827758789
                    }
                },
                "velocity": {
                    "x": -1.8814785480499268,
                    "y": 11.689154624938965,
                    "z": 0.07574651390314102
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.215466499328613,
                "transform": {
                    "location": {
                        "x": 952.8541870117188,
                        "y": 3447.837646484375,
                        "z": 370.52496337890625
                    },
                    "rotation": {
                        "roll": 0.0010280503192916512,
                        "pitch": 0.2938278913497925,
                        "yaw": 99.14743041992188
                    }
                },
                "velocity": {
                    "x": -1.944016933441162,
                    "y": 12.059622764587402,
                    "z": 0.0626571998000145
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.271628379821777,
                "transform": {
                    "location": {
                        "x": 948.4552612304688,
                        "y": 3475.18408203125,
                        "z": 370.6448059082031
                    },
                    "rotation": {
                        "roll": 0.0016066349344328046,
                        "pitch": 0.284784734249115,
                        "yaw": 99.1720199584961
                    }
                },
                "velocity": {
                    "x": -1.7971032857894897,
                    "y": 11.127350807189941,
                    "z": 0.045627087354660034
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162754774093628,
                "transform": {
                    "location": {
                        "x": 949.0238037109375,
                        "y": 3446.18408203125,
                        "z": 370.5029602050781
                    },
                    "rotation": {
                        "roll": -0.0002441357064526528,
                        "pitch": 0.5140399932861328,
                        "yaw": 99.13743591308594
                    }
                },
                "velocity": {
                    "x": -0.5020284056663513,
                    "y": 3.122612953186035,
                    "z": 0.016557244583964348
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1649389266967773,
                "transform": {
                    "location": {
                        "x": 950.6435546875,
                        "y": 3436.122314453125,
                        "z": 370.441162109375
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": 0.02581128291785717,
                        "yaw": 99.14258575439453
                    }
                },
                "velocity": {
                    "x": -0.5028665661811829,
                    "y": 3.124680519104004,
                    "z": 0.018324604257941246
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.23190267384052277,
        "expert_target_speed": 10.0,
        "target_point": [
            12.578562353340082,
            0.8473846777158078
        ],
        "target_point_next": [
            63.53398179384627,
            2.9779326405209696
        ]
    },
    "415": {
        "acceleration": [
            -1.1867690086364746,
            2.603435516357422,
            -0.0005757808685302734
        ],
        "angular_velocity": [
            0.2156953513622284,
            0.24800290167331696,
            3.439119815826416
        ],
        "forward_vector": [
            -0.13130344450473785,
            0.9913045763969421,
            0.008637678809463978
        ],
        "right_vector": [
            -0.991327702999115,
            -0.1313437819480896,
            0.00427686283364892
        ],
        "location": [
            944.2218627929688,
            3484.450439453125,
            370.6801452636719
        ],
        "rotation": [
            -0.24505607783794403,
            0.4949086606502533,
            97.54520416259766
        ],
        "velocity": [
            -1.9333171844482422,
            14.530898094177246,
            0.057480402290821075
        ],
        "speed": 14.658946577399306,
        "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": 28.083087921142578,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                939.2235717773438,
                3512.0849609375,
                370.78076171875
            ],
            "velocity": [
                -1.2662266492843628,
                7.866616249084473,
                0.02159532532095909
            ],
            "speed_kmh": 28.684443859790687,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.715658187866211,
                "transform": {
                    "location": {
                        "x": 943.0993041992188,
                        "y": 3550.023681640625,
                        "z": 370.8684997558594
                    },
                    "rotation": {
                        "roll": -0.04443361237645149,
                        "pitch": -0.4187930226325989,
                        "yaw": -80.64708709716797
                    }
                },
                "velocity": {
                    "x": 1.13236403465271,
                    "y": -6.619089126586914,
                    "z": -0.07401398569345474
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.819708347320557,
                "transform": {
                    "location": {
                        "x": 949.6310424804688,
                        "y": 3509.962646484375,
                        "z": 370.76995849609375
                    },
                    "rotation": {
                        "roll": -0.0010986360721290112,
                        "pitch": -0.13266275823116302,
                        "yaw": -80.71965789794922
                    }
                },
                "velocity": {
                    "x": 1.258605718612671,
                    "y": -7.71772575378418,
                    "z": -0.02152262255549431
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.074275970458984,
                "transform": {
                    "location": {
                        "x": 947.0364379882812,
                        "y": 3505.677978515625,
                        "z": 370.7484436035156
                    },
                    "rotation": {
                        "roll": 0.0005406613345257938,
                        "pitch": -0.17533095180988312,
                        "yaw": -80.8049545288086
                    }
                },
                "velocity": {
                    "x": 1.292157530784607,
                    "y": -7.970171928405762,
                    "z": -0.025062188506126404
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.003915786743164,
                "transform": {
                    "location": {
                        "x": 956.7857666015625,
                        "y": 3465.5751953125,
                        "z": 370.6043701171875
                    },
                    "rotation": {
                        "roll": -0.0020752083510160446,
                        "pitch": -0.23995819687843323,
                        "yaw": -80.85917663574219
                    }
                },
                "velocity": {
                    "x": 1.2695685625076294,
                    "y": -7.9025115966796875,
                    "z": -0.034256961196660995
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.00674057006836,
                "transform": {
                    "location": {
                        "x": 963.4676513671875,
                        "y": 3424.04931640625,
                        "z": 370.3617248535156
                    },
                    "rotation": {
                        "roll": 0.00026375544257462025,
                        "pitch": -0.38977155089378357,
                        "yaw": -80.8490982055664
                    }
                },
                "velocity": {
                    "x": 1.2732075452804565,
                    "y": -7.904679775238037,
                    "z": -0.05353880673646927
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042752265930176,
                "transform": {
                    "location": {
                        "x": 960.7134399414062,
                        "y": 3420.713134765625,
                        "z": 370.35009765625
                    },
                    "rotation": {
                        "roll": -6.104623025748879e-05,
                        "pitch": -0.3910214900970459,
                        "yaw": -80.85647583007812
                    }
                },
                "velocity": {
                    "x": 1.2780917882919312,
                    "y": -7.940371513366699,
                    "z": -0.053269028663635254
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041841506958008,
                "transform": {
                    "location": {
                        "x": 953.9308471679688,
                        "y": 3462.860595703125,
                        "z": 370.59173583984375
                    },
                    "rotation": {
                        "roll": -0.0002441417600493878,
                        "pitch": -0.2599501609802246,
                        "yaw": -80.83971405029297
                    }
                },
                "velocity": {
                    "x": 1.2792760133743286,
                    "y": -7.939364433288574,
                    "z": -0.0338890440762043
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.876953125,
                        "y": 3398.613037109375,
                        "z": 370.1865234375
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.5209350585938,
                        "y": 3413.252685546875,
                        "z": 370.30181884765625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.25329065322876,
                "transform": {
                    "location": {
                        "x": 940.2528076171875,
                        "y": 3547.304931640625,
                        "z": 370.847412109375
                    },
                    "rotation": {
                        "roll": -0.005462640896439552,
                        "pitch": -0.14303098618984222,
                        "yaw": -80.46868133544922
                    }
                },
                "velocity": {
                    "x": 1.0531988143920898,
                    "y": -6.163919448852539,
                    "z": -0.022692130878567696
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.96790075302124,
                "transform": {
                    "location": {
                        "x": 939.2235717773438,
                        "y": 3512.0849609375,
                        "z": 370.78076171875
                    },
                    "rotation": {
                        "roll": 0.0008574856328777969,
                        "pitch": 0.1615544557571411,
                        "yaw": 99.14385986328125
                    }
                },
                "velocity": {
                    "x": -1.2662266492843628,
                    "y": 7.866616249084473,
                    "z": 0.02159532532095909
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026922225952148,
                "transform": {
                    "location": {
                        "x": 936.2825317382812,
                        "y": 3530.35546875,
                        "z": 370.82159423828125
                    },
                    "rotation": {
                        "roll": 0.0012327865697443485,
                        "pitch": 0.14991581439971924,
                        "yaw": 99.15851593017578
                    }
                },
                "velocity": {
                    "x": -1.2775139808654785,
                    "y": 7.924583435058594,
                    "z": 0.0206105038523674
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.9078979492188,
                        "y": 3385.99365234375,
                        "z": 370.0654602050781
                    },
                    "rotation": {
                        "roll": 2.668186027676711e-08,
                        "pitch": 0.5941649675369263,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.837053298950195,
                "transform": {
                    "location": {
                        "x": 955.2598876953125,
                        "y": 3432.886474609375,
                        "z": 370.43316650390625
                    },
                    "rotation": {
                        "roll": -0.0003967461525462568,
                        "pitch": 0.3688506782054901,
                        "yaw": 99.14447784423828
                    }
                },
                "velocity": {
                    "x": -1.880801796913147,
                    "y": 11.68642520904541,
                    "z": 0.07662852853536606
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.655726432800293,
                "transform": {
                    "location": {
                        "x": 952.3565673828125,
                        "y": 3450.927734375,
                        "z": 370.5412902832031
                    },
                    "rotation": {
                        "roll": 0.0001250923378393054,
                        "pitch": 0.24768313765525818,
                        "yaw": 99.15019226074219
                    }
                },
                "velocity": {
                    "x": -2.0124146938323975,
                    "y": 12.49454116821289,
                    "z": 0.06354818493127823
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.770238876342773,
                "transform": {
                    "location": {
                        "x": 947.993896484375,
                        "y": 3478.04248046875,
                        "z": 370.6567077636719
                    },
                    "rotation": {
                        "roll": 0.0013661510311067104,
                        "pitch": 0.309059202671051,
                        "yaw": 99.17293548583984
                    }
                },
                "velocity": {
                    "x": -1.8748306035995483,
                    "y": 11.61985969543457,
                    "z": 0.0490553081035614
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.162696361541748,
                "transform": {
                    "location": {
                        "x": 948.898193359375,
                        "y": 3446.96435546875,
                        "z": 370.5069885253906
                    },
                    "rotation": {
                        "roll": -0.000366203545127064,
                        "pitch": 0.5134662985801697,
                        "yaw": 99.13833618164062
                    }
                },
                "velocity": {
                    "x": -0.5022546052932739,
                    "y": 3.1225132942199707,
                    "z": 0.01730603165924549
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.1652700901031494,
                "transform": {
                    "location": {
                        "x": 950.5178833007812,
                        "y": 3436.903564453125,
                        "z": 370.44573974609375
                    },
                    "rotation": {
                        "roll": 4.9884896725416183e-05,
                        "pitch": 0.02613230235874653,
                        "yaw": 99.14320373535156
                    }
                },
                "velocity": {
                    "x": -0.5030099153518677,
                    "y": 3.124993324279785,
                    "z": 0.01822344772517681
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2500435411930084,
        "expert_target_speed": 10.0,
        "target_point": [
            9.005838925851743,
            0.6963508658542779
        ],
        "target_point_next": [
            59.98596351815302,
            2.117935029092246
        ]
    },
    "420": {
        "acceleration": [
            -1.386876106262207,
            2.270374298095703,
            0.005181506276130676
        ],
        "angular_velocity": [
            -0.08910604566335678,
            0.2182445079088211,
            4.144323348999023
        ],
        "forward_vector": [
            -0.14797262847423553,
            0.9889528751373291,
            0.008735187351703644
        ],
        "right_vector": [
            -0.9889683127403259,
            -0.1480238139629364,
            0.005533276591449976
        ],
        "location": [
            943.6987915039062,
            3488.1640625,
            370.6942443847656
        ],
        "rotation": [
            -0.317047119140625,
            0.5004957318305969,
            98.50978088378906
        ],
        "velocity": [
            -2.266556978225708,
            15.13276481628418,
            0.05633524805307388
        ],
        "speed": 15.3015636952735,
        "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": 26.338979721069336,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                938.9051513671875,
                3514.06298828125,
                370.7862854003906
            ],
            "velocity": [
                -1.2820338010787964,
                7.961402893066406,
                0.021982993930578232
            ],
            "speed_kmh": 29.03038525554466,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.95094633102417,
                "transform": {
                    "location": {
                        "x": 943.387939453125,
                        "y": 3548.3359375,
                        "z": 370.85858154296875
                    },
                    "rotation": {
                        "roll": -0.014343253336846828,
                        "pitch": -0.14111170172691345,
                        "yaw": -80.26749420166016
                    }
                },
                "velocity": {
                    "x": 1.1757802963256836,
                    "y": -6.850780487060547,
                    "z": -0.001806716900318861
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.110430717468262,
                "transform": {
                    "location": {
                        "x": 949.9503784179688,
                        "y": 3508.0,
                        "z": 370.7645568847656
                    },
                    "rotation": {
                        "roll": -0.0021972774993628263,
                        "pitch": -0.180965855717659,
                        "yaw": -80.7615966796875
                    }
                },
                "velocity": {
                    "x": 1.2973226308822632,
                    "y": -8.005965232849121,
                    "z": -0.023593582212924957
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.85917854309082,
                "transform": {
                    "location": {
                        "x": 947.3292236328125,
                        "y": 3503.87060546875,
                        "z": 370.74322509765625
                    },
                    "rotation": {
                        "roll": 0.000402837002184242,
                        "pitch": -0.20541109144687653,
                        "yaw": -80.82124328613281
                    }
                },
                "velocity": {
                    "x": 1.0952428579330444,
                    "y": -6.771138668060303,
                    "z": -0.021340541541576385
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063496589660645,
                "transform": {
                    "location": {
                        "x": 957.104736328125,
                        "y": 3463.592041015625,
                        "z": 370.595703125
                    },
                    "rotation": {
                        "roll": 0.0013332607923075557,
                        "pitch": -0.2552783191204071,
                        "yaw": -80.86167907714844
                    }
                },
                "velocity": {
                    "x": 1.2807178497314453,
                    "y": -7.961061000823975,
                    "z": -0.03539188951253891
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.038278579711914,
                "transform": {
                    "location": {
                        "x": 963.7864379882812,
                        "y": 3422.068603515625,
                        "z": 370.3481140136719
                    },
                    "rotation": {
                        "roll": 0.0009119712049141526,
                        "pitch": -0.38858309388160706,
                        "yaw": -80.85127258300781
                    }
                },
                "velocity": {
                    "x": 1.2779738903045654,
                    "y": -7.935858726501465,
                    "z": -0.053506314754486084
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.024169921875,
                        "y": 3418.711181640625,
                        "z": 370.3363952636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03779125213623,
                "transform": {
                    "location": {
                        "x": 954.2503051757812,
                        "y": 3460.876708984375,
                        "z": 370.582763671875
                    },
                    "rotation": {
                        "roll": -0.0006103476625867188,
                        "pitch": -0.25943106412887573,
                        "yaw": -80.86564636230469
                    }
                },
                "velocity": {
                    "x": 1.2777485847473145,
                    "y": -7.935491561889648,
                    "z": -0.037716493010520935
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.4021606445312,
                        "y": 3401.56298828125,
                        "z": 370.2119140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.04296875,
                        "y": 3416.222412109375,
                        "z": 370.32244873046875
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.479659557342529,
                "transform": {
                    "location": {
                        "x": 940.5205078125,
                        "y": 3545.734619140625,
                        "z": 370.8435974121094
                    },
                    "rotation": {
                        "roll": -0.0028076188173145056,
                        "pitch": -0.10171516984701157,
                        "yaw": -80.33184814453125
                    }
                },
                "velocity": {
                    "x": 1.0934982299804688,
                    "y": -6.386714935302734,
                    "z": -0.010999021120369434
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063996315002441,
                "transform": {
                    "location": {
                        "x": 938.9051513671875,
                        "y": 3514.06298828125,
                        "z": 370.7862854003906
                    },
                    "rotation": {
                        "roll": -6.103169289417565e-05,
                        "pitch": 0.15281181037425995,
                        "yaw": 99.14761352539062
                    }
                },
                "velocity": {
                    "x": -1.2820338010787964,
                    "y": 7.961402893066406,
                    "z": 0.021982993930578232
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.043238639831543,
                "transform": {
                    "location": {
                        "x": 935.962646484375,
                        "y": 3532.3408203125,
                        "z": 370.82623291015625
                    },
                    "rotation": {
                        "roll": 0.0013767336495220661,
                        "pitch": 0.13415174186229706,
                        "yaw": 99.15459442138672
                    }
                },
                "velocity": {
                    "x": -1.279609203338623,
                    "y": 7.940779209136963,
                    "z": 0.01771990768611431
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.6431274414062,
                        "y": 3387.638916015625,
                        "z": 370.0821838378906
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.995833396911621,
                "transform": {
                    "location": {
                        "x": 954.7811279296875,
                        "y": 3435.8623046875,
                        "z": 370.4519348144531
                    },
                    "rotation": {
                        "roll": -0.00018313810869585723,
                        "pitch": 0.36239615082740784,
                        "yaw": 99.1348876953125
                    }
                },
                "velocity": {
                    "x": -1.9058789014816284,
                    "y": 11.84322452545166,
                    "z": 0.07533090561628342
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.544759750366211,
                "transform": {
                    "location": {
                        "x": 951.8765258789062,
                        "y": 3453.90771484375,
                        "z": 370.5555419921875
                    },
                    "rotation": {
                        "roll": -0.0003967460652347654,
                        "pitch": 0.36734122037887573,
                        "yaw": 99.14993286132812
                    }
                },
                "velocity": {
                    "x": -1.8358203172683716,
                    "y": 11.39772891998291,
                    "z": 0.05495361238718033
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.820473670959473,
                "transform": {
                    "location": {
                        "x": 947.5248413085938,
                        "y": 3480.95263671875,
                        "z": 370.66851806640625
                    },
                    "rotation": {
                        "roll": 0.0009682019590400159,
                        "pitch": 0.2521773874759674,
                        "yaw": 99.14491271972656
                    }
                },
                "velocity": {
                    "x": -1.8805761337280273,
                    "y": 11.669819831848145,
                    "z": 0.04827341064810753
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86157,
                "type": "vehicle.gazelle.omafiets",
                "speed_kmh": 3.1626996994018555,
                "transform": {
                    "location": {
                        "x": 948.7726440429688,
                        "y": 3447.74462890625,
                        "z": 370.51104736328125
                    },
                    "rotation": {
                        "roll": 9.495945414528251e-05,
                        "pitch": 0.5137872695922852,
                        "yaw": 99.13792419433594
                    }
                },
                "velocity": {
                    "x": -0.5021792054176331,
                    "y": 3.122528314590454,
                    "z": 0.017382707446813583
                },
                "bounding_box_extent": {
                    "x": 0.9217206835746765,
                    "y": 0.3295213580131531,
                    "z": 0.8879144191741943
                }
            },
            {
                "id": 86156,
                "type": "vehicle.diamondback.century",
                "speed_kmh": 3.165121555328369,
                "transform": {
                    "location": {
                        "x": 950.39208984375,
                        "y": 3437.684814453125,
                        "z": 370.4503173828125
                    },
                    "rotation": {
                        "roll": 2.6364432414993644e-05,
                        "pitch": 0.02607083134353161,
                        "yaw": 99.1432876586914
                    }
                },
                "velocity": {
                    "x": -0.5028614401817322,
                    "y": 3.1248748302459717,
                    "z": 0.016807202249765396
                },
                "bounding_box_extent": {
                    "x": 0.8281218409538269,
                    "y": 0.2912190854549408,
                    "z": 0.8098834753036499
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.23713798820972443,
        "expert_target_speed": 10.0,
        "target_point": [
            56.26297539649398,
            1.1400431258675798
        ],
        "target_point_next": [
            82.52149117745768,
            1.4300330701845692
        ]
    },
    "425": {
        "acceleration": [
            -1.4487981796264648,
            1.690216064453125,
            0.003386884927749634
        ],
        "angular_velocity": [
            -0.18334202468395233,
            0.1429925411939621,
            4.315091133117676
        ],
        "forward_vector": [
            -0.1662636399269104,
            0.9860456585884094,
            0.008383532986044884
        ],
        "right_vector": [
            -0.986050546169281,
            -0.16631963849067688,
            0.0064909146167337894
        ],
        "location": [
            943.0890502929688,
            3492.014404296875,
            370.70843505859375
        ],
        "rotation": [
            -0.3719176948070526,
            0.4803466796875,
            99.57099151611328
        ],
        "velocity": [
            -2.6254990100860596,
            15.622797966003418,
            0.056646719574928284
        ],
        "speed": 15.84187682500162,
        "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": 24.451396942138672,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                938.5856323242188,
                3516.04736328125,
                370.7917785644531
            ],
            "velocity": [
                -1.2729918956756592,
                7.905404090881348,
                0.021993273869156837
            ],
            "speed_kmh": 28.826179431245258,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.295257091522217,
                "transform": {
                    "location": {
                        "x": 943.6724243164062,
                        "y": 3546.668701171875,
                        "z": 370.8589782714844
                    },
                    "rotation": {
                        "roll": 0.012780671007931232,
                        "pitch": -0.10064966231584549,
                        "yaw": -80.27708435058594
                    }
                },
                "velocity": {
                    "x": 1.0561785697937012,
                    "y": -6.206025123596191,
                    "z": 0.0010307884076610208
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.033223152160645,
                "transform": {
                    "location": {
                        "x": 950.2744140625,
                        "y": 3506.00146484375,
                        "z": 370.7585754394531
                    },
                    "rotation": {
                        "roll": -0.00012207681720610708,
                        "pitch": -0.16867151856422424,
                        "yaw": -80.7891845703125
                    }
                },
                "velocity": {
                    "x": 1.2840602397918701,
                    "y": -7.929895877838135,
                    "z": -0.024643216282129288
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.124142646789551,
                "transform": {
                    "location": {
                        "x": 947.6046142578125,
                        "y": 3502.166259765625,
                        "z": 370.73748779296875
                    },
                    "rotation": {
                        "roll": -0.0002136179100489244,
                        "pitch": -0.1836910992860794,
                        "yaw": -80.83106994628906
                    }
                },
                "velocity": {
                    "x": 1.134332299232483,
                    "y": -7.033222675323486,
                    "z": -0.02189183235168457
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005589485168457,
                "transform": {
                    "location": {
                        "x": 957.4238891601562,
                        "y": 3461.609375,
                        "z": 370.5867919921875
                    },
                    "rotation": {
                        "roll": 0.0008502736454829574,
                        "pitch": -0.25745031237602234,
                        "yaw": -80.85833740234375
                    }
                },
                "velocity": {
                    "x": 1.271896243095398,
                    "y": -7.903822898864746,
                    "z": -0.03658713400363922
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.0545654296875,
                        "y": 3420.0205078125,
                        "z": 370.3385925292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86224,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.2999877929688,
                        "y": 3416.6455078125,
                        "z": 370.3219909667969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044878959655762,
                "transform": {
                    "location": {
                        "x": 954.5697631835938,
                        "y": 3458.891845703125,
                        "z": 370.57373046875
                    },
                    "rotation": {
                        "roll": -0.0006713930051773787,
                        "pitch": -0.2569516897201538,
                        "yaw": -80.84505462646484
                    }
                },
                "velocity": {
                    "x": 1.2780009508132935,
                    "y": -7.942634105682373,
                    "z": -0.03683687001466751
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.9334716796875,
                        "y": 3404.475341796875,
                        "z": 370.2361145019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.5798950195312,
                        "y": 3419.099609375,
                        "z": 370.34222412109375
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.362884521484375,
                "transform": {
                    "location": {
                        "x": 940.7698364257812,
                        "y": 3544.278564453125,
                        "z": 370.8415222167969
                    },
                    "rotation": {
                        "roll": -0.0017700183670967817,
                        "pitch": -0.145694762468338,
                        "yaw": -80.28770446777344
                    }
                },
                "velocity": {
                    "x": 0.9066418409347534,
                    "y": -5.285682678222656,
                    "z": -0.009439630433917046
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.007271766662598,
                "transform": {
                    "location": {
                        "x": 938.5856323242188,
                        "y": 3516.04736328125,
                        "z": 370.7917785644531
                    },
                    "rotation": {
                        "roll": -0.00015257924678735435,
                        "pitch": 0.1550794392824173,
                        "yaw": 99.14789581298828
                    }
                },
                "velocity": {
                    "x": -1.2729918956756592,
                    "y": 7.905404090881348,
                    "z": 0.021993273869156837
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.007676124572754,
                "transform": {
                    "location": {
                        "x": 935.6436767578125,
                        "y": 3534.31982421875,
                        "z": 370.83050537109375
                    },
                    "rotation": {
                        "roll": 0.0006507902289740741,
                        "pitch": 0.1142212450504303,
                        "yaw": 99.15424346923828
                    }
                },
                "velocity": {
                    "x": -1.2739620208740234,
                    "y": 7.90566873550415,
                    "z": 0.017095813527703285
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 962.2459716796875,
                        "y": 3390.1064453125,
                        "z": 370.1072082519531
                    },
                    "rotation": {
                        "roll": 2.6681693299224207e-08,
                        "pitch": 0.5586616396903992,
                        "yaw": 99.14251708984375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.091253280639648,
                "transform": {
                    "location": {
                        "x": 954.3223266601562,
                        "y": 3438.71435546875,
                        "z": 370.4687805175781
                    },
                    "rotation": {
                        "roll": 0.0002625643683131784,
                        "pitch": 0.2417408674955368,
                        "yaw": 99.13631439208984
                    }
                },
                "velocity": {
                    "x": -1.7619526386260986,
                    "y": 10.950223922729492,
                    "z": 0.06334947794675827
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.452516555786133,
                "transform": {
                    "location": {
                        "x": 951.4247436523438,
                        "y": 3456.712646484375,
                        "z": 370.5693359375
                    },
                    "rotation": {
                        "roll": -0.0005798388738185167,
                        "pitch": 0.27285921573638916,
                        "yaw": 99.14720916748047
                    }
                },
                "velocity": {
                    "x": -1.818616271018982,
                    "y": 11.307083129882812,
                    "z": 0.05158845707774162
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.09306526184082,
                "transform": {
                    "location": {
                        "x": 947.0472412109375,
                        "y": 3483.91650390625,
                        "z": 370.6804504394531
                    },
                    "rotation": {
                        "roll": -9.156821761280298e-05,
                        "pitch": 0.2678731679916382,
                        "yaw": 99.16011810302734
                    }
                },
                "velocity": {
                    "x": -1.9234418869018555,
                    "y": 11.939022064208984,
                    "z": 0.04824744910001755
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.190074622631073,
        "expert_target_speed": 10.0,
        "target_point": [
            52.37631163526691,
            0.13677003970888357
        ],
        "target_point_next": [
            78.63569433845794,
            -0.05961029096634185
        ]
    },
    "430": {
        "acceleration": [
            -0.7773017883300781,
            1.2125396728515625,
            -0.005831122398376465
        ],
        "angular_velocity": [
            -0.22102072834968567,
            -0.5193611979484558,
            2.206299304962158
        ],
        "forward_vector": [
            -0.1822105050086975,
            0.9832332134246826,
            0.007195052690804005
        ],
        "right_vector": [
            -0.9832316040992737,
            -0.1822555959224701,
            0.006202301476150751
        ],
        "location": [
            942.3936767578125,
            3495.967529296875,
            370.7224426269531
        ],
        "rotation": [
            -0.3553771674633026,
            0.41224971413612366,
            100.49881744384766
        ],
        "velocity": [
            -2.9213314056396484,
            15.96983528137207,
            0.05563269555568695
        ],
        "speed": 16.234833417554142,
        "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": 22.444379806518555,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                938.2664794921875,
                3518.029052734375,
                370.7972717285156
            ],
            "velocity": [
                -1.2803014516830444,
                7.950686931610107,
                0.021202802658081055
            ],
            "speed_kmh": 28.991299572362298,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.356185436248779,
                "transform": {
                    "location": {
                        "x": 943.911865234375,
                        "y": 3545.262451171875,
                        "z": 370.85968017578125
                    },
                    "rotation": {
                        "roll": 0.0015377950621768832,
                        "pitch": -0.3505799174308777,
                        "yaw": -80.33547973632812
                    }
                },
                "velocity": {
                    "x": 0.8956448435783386,
                    "y": -5.28076171875,
                    "z": -0.010044975206255913
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030198097229004,
                "transform": {
                    "location": {
                        "x": 950.5946655273438,
                        "y": 3504.02294921875,
                        "z": 370.75244140625
                    },
                    "rotation": {
                        "roll": -0.0019226062577217817,
                        "pitch": -0.16668392717838287,
                        "yaw": -80.80768585205078
                    }
                },
                "velocity": {
                    "x": 1.2807540893554688,
                    "y": -7.927363872528076,
                    "z": -0.02543281950056553
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.779534339904785,
                "transform": {
                    "location": {
                        "x": 947.90576171875,
                        "y": 3500.299560546875,
                        "z": 370.7313537597656
                    },
                    "rotation": {
                        "roll": 0.000471338425995782,
                        "pitch": -0.16809093952178955,
                        "yaw": -80.84132385253906
                    }
                },
                "velocity": {
                    "x": 1.2385103702545166,
                    "y": -7.680272102355957,
                    "z": -0.0258196871727705
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064610481262207,
                "transform": {
                    "location": {
                        "x": 957.7431030273438,
                        "y": 3459.6259765625,
                        "z": 370.5777282714844
                    },
                    "rotation": {
                        "roll": 0.002253117738291621,
                        "pitch": -0.25628232955932617,
                        "yaw": -80.8583755493164
                    }
                },
                "velocity": {
                    "x": 1.2812553644180298,
                    "y": -7.962094783782959,
                    "z": -0.03706996515393257
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86225,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 964.3662109375,
                        "y": 3417.961181640625,
                        "z": 370.325927734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.387510746717453,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04013729095459,
                "transform": {
                    "location": {
                        "x": 954.8890991210938,
                        "y": 3456.90673828125,
                        "z": 370.5646667480469
                    },
                    "rotation": {
                        "roll": -3.0509374482790008e-05,
                        "pitch": -0.2589665949344635,
                        "yaw": -80.87303161621094
                    }
                },
                "velocity": {
                    "x": 1.2772451639175415,
                    "y": -7.937951564788818,
                    "z": -0.037294406443834305
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.5670776367188,
                        "y": 3406.751220703125,
                        "z": 370.2538146972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.1602783203125,
                        "y": 3421.70703125,
                        "z": 370.360107421875
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.739336013793945,
                "transform": {
                    "location": {
                        "x": 940.9959106445312,
                        "y": 3542.9462890625,
                        "z": 370.83892822265625
                    },
                    "rotation": {
                        "roll": 0.0024531080853194,
                        "pitch": -0.0919138491153717,
                        "yaw": -80.39189910888672
                    }
                },
                "velocity": {
                    "x": 0.9435721635818481,
                    "y": -5.661232948303223,
                    "z": -0.009576329961419106
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.053138732910156,
                "transform": {
                    "location": {
                        "x": 938.2664794921875,
                        "y": 3518.029052734375,
                        "z": 370.7972717285156
                    },
                    "rotation": {
                        "roll": -0.00012207674444653094,
                        "pitch": 0.15591271221637726,
                        "yaw": 99.14848327636719
                    }
                },
                "velocity": {
                    "x": -1.2803014516830444,
                    "y": 7.950686931610107,
                    "z": 0.021202802658081055
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.042693138122559,
                "transform": {
                    "location": {
                        "x": 935.3245239257812,
                        "y": 3536.30126953125,
                        "z": 370.83447265625
                    },
                    "rotation": {
                        "roll": 0.002061281120404601,
                        "pitch": 0.12420015037059784,
                        "yaw": 99.15229034423828
                    }
                },
                "velocity": {
                    "x": -1.2781225442886353,
                    "y": 7.94046688079834,
                    "z": 0.017155341804027557
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.8592529296875,
                        "y": 3392.50830078125,
                        "z": 370.1303405761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.306960105895996,
                "transform": {
                    "location": {
                        "x": 953.9066162109375,
                        "y": 3441.296875,
                        "z": 370.48370361328125
                    },
                    "rotation": {
                        "roll": 0.0012202917132526636,
                        "pitch": 0.22114785015583038,
                        "yaw": 99.13346862792969
                    }
                },
                "velocity": {
                    "x": -1.6380274295806885,
                    "y": 10.175785064697266,
                    "z": 0.06070350483059883
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.174222946166992,
                "transform": {
                    "location": {
                        "x": 950.9557495117188,
                        "y": 3459.6279296875,
                        "z": 370.5831298828125
                    },
                    "rotation": {
                        "roll": -0.000305179157294333,
                        "pitch": 0.19623816013336182,
                        "yaw": 99.13822174072266
                    }
                },
                "velocity": {
                    "x": -1.933516025543213,
                    "y": 12.019583702087402,
                    "z": 0.053185757249593735
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.121437072753906,
                "transform": {
                    "location": {
                        "x": 946.544189453125,
                        "y": 3487.038330078125,
                        "z": 370.69293212890625
                    },
                    "rotation": {
                        "roll": -9.156888700090349e-05,
                        "pitch": 0.3452114164829254,
                        "yaw": 99.1590576171875
                    }
                },
                "velocity": {
                    "x": -2.0868606567382812,
                    "y": 12.954330444335938,
                    "z": 0.0494953915476799
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.12990935146808624,
        "expert_target_speed": 10.0,
        "target_point": [
            48.35800699969407,
            -0.6747862163658969
        ],
        "target_point_next": [
            74.61076676082669,
            -1.2963568971262376
        ]
    },
    "435": {
        "acceleration": [
            1.284174919128418,
            -4.842548370361328,
            0.0034303218126296997
        ],
        "angular_velocity": [
            -1.667490005493164,
            -1.2993289232254028,
            -1.933043122291565
        ],
        "forward_vector": [
            -0.18230119347572327,
            0.9832373261451721,
            0.0032722889445722103
        ],
        "right_vector": [
            -0.9832373261451721,
            -0.18231025338172913,
            0.0027164060156792402
        ],
        "location": [
            941.6624145507812,
            3499.939697265625,
            370.73638916015625
        ],
        "rotation": [
            -0.1556396335363388,
            0.18748867511749268,
            100.5038833618164
        ],
        "velocity": [
            -2.848771810531616,
            15.52735710144043,
            0.05232163146138191
        ],
        "speed": 15.786523346960601,
        "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": 20.411590576171875,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                937.9473876953125,
                3520.01025390625,
                370.8027648925781
            ],
            "velocity": [
                -1.272200584411621,
                7.899825096130371,
                0.021758709102869034
            ],
            "speed_kmh": 28.805895368124563,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.39856481552124,
                "transform": {
                    "location": {
                        "x": 944.1304321289062,
                        "y": 3543.976806640625,
                        "z": 370.85552978515625
                    },
                    "rotation": {
                        "roll": 0.0030974429100751877,
                        "pitch": -0.16201891005039215,
                        "yaw": -80.44153594970703
                    }
                },
                "velocity": {
                    "x": 0.8904103636741638,
                    "y": -5.324620246887207,
                    "z": -0.009606714360415936
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.017043113708496,
                "transform": {
                    "location": {
                        "x": 950.9146118164062,
                        "y": 3502.042724609375,
                        "z": 370.7463073730469
                    },
                    "rotation": {
                        "roll": -0.0006713965558446944,
                        "pitch": -0.1890869438648224,
                        "yaw": -80.82383728027344
                    }
                },
                "velocity": {
                    "x": 1.2781877517700195,
                    "y": -7.914453983306885,
                    "z": -0.02532828226685524
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.682920455932617,
                "transform": {
                    "location": {
                        "x": 948.2420654296875,
                        "y": 3498.212158203125,
                        "z": 370.7242736816406
                    },
                    "rotation": {
                        "roll": -0.00018310178711544722,
                        "pitch": -0.15835793316364288,
                        "yaw": -80.85626983642578
                    }
                },
                "velocity": {
                    "x": 1.3801689147949219,
                    "y": -8.572477340698242,
                    "z": -0.029517702758312225
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004855155944824,
                "transform": {
                    "location": {
                        "x": 958.0621948242188,
                        "y": 3457.64306640625,
                        "z": 370.5686950683594
                    },
                    "rotation": {
                        "roll": -0.00027463771402835846,
                        "pitch": -0.25656238198280334,
                        "yaw": -80.85823059082031
                    }
                },
                "velocity": {
                    "x": 1.2717254161834717,
                    "y": -7.903102874755859,
                    "z": -0.0373864509165287
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041949272155762,
                "transform": {
                    "location": {
                        "x": 955.2084350585938,
                        "y": 3454.92236328125,
                        "z": 370.5552673339844
                    },
                    "rotation": {
                        "roll": 7.065056706778705e-05,
                        "pitch": -0.27365151047706604,
                        "yaw": -80.84599304199219
                    }
                },
                "velocity": {
                    "x": 1.2773387432098389,
                    "y": -7.9397711753845215,
                    "z": -0.037138503044843674
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.0589599609375,
                        "y": 3409.909912109375,
                        "z": 370.2782287597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.7403564453125,
                        "y": 3424.317138671875,
                        "z": 370.37799072265625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.027369976043701,
                "transform": {
                    "location": {
                        "x": 941.2451171875,
                        "y": 3541.453125,
                        "z": 370.835693359375
                    },
                    "rotation": {
                        "roll": 0.0007220508414320648,
                        "pitch": -0.03790754824876785,
                        "yaw": -80.52757263183594
                    }
                },
                "velocity": {
                    "x": 1.1515028476715088,
                    "y": -6.932373523712158,
                    "z": -0.012786759994924068
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00163745880127,
                "transform": {
                    "location": {
                        "x": 937.9473876953125,
                        "y": 3520.01025390625,
                        "z": 370.8027648925781
                    },
                    "rotation": {
                        "roll": 0.0005650067469105124,
                        "pitch": 0.15548241138458252,
                        "yaw": 99.14840698242188
                    }
                },
                "velocity": {
                    "x": -1.272200584411621,
                    "y": 7.899825096130371,
                    "z": 0.021758709102869034
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01689624786377,
                "transform": {
                    "location": {
                        "x": 935.00537109375,
                        "y": 3538.28369140625,
                        "z": 370.8385925292969
                    },
                    "rotation": {
                        "roll": 0.0005105177406221628,
                        "pitch": 0.12045037746429443,
                        "yaw": 99.14299011230469
                    }
                },
                "velocity": {
                    "x": -1.273816466331482,
                    "y": 7.915031433105469,
                    "z": 0.017150763422250748
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.4730224609375,
                        "y": 3394.909912109375,
                        "z": 370.1532287597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5231514573097229,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.030054092407227,
                "transform": {
                    "location": {
                        "x": 953.4827880859375,
                        "y": 3443.9306640625,
                        "z": 370.4992980957031
                    },
                    "rotation": {
                        "roll": -0.00039673387072980404,
                        "pitch": 0.39233970642089844,
                        "yaw": 99.1513671875
                    }
                },
                "velocity": {
                    "x": -1.7535408735275269,
                    "y": 10.889604568481445,
                    "z": 0.06088080257177353
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.8313627243042,
                "transform": {
                    "location": {
                        "x": 950.4574584960938,
                        "y": 3462.72607421875,
                        "z": 370.5971374511719
                    },
                    "rotation": {
                        "roll": 0.00036700451164506376,
                        "pitch": 0.18511860072612762,
                        "yaw": 99.13829803466797
                    }
                },
                "velocity": {
                    "x": -2.037801742553711,
                    "y": 12.668384552001953,
                    "z": 0.0572577640414238
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.329323768615723,
                "transform": {
                    "location": {
                        "x": 946.016845703125,
                        "y": 3490.312744140625,
                        "z": 370.7049255371094
                    },
                    "rotation": {
                        "roll": -0.0002441418473608792,
                        "pitch": 0.26598119735717773,
                        "yaw": 99.1463851928711
                    }
                },
                "velocity": {
                    "x": -2.1191153526306152,
                    "y": 13.159707069396973,
                    "z": 0.048356130719184875
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11379541456699371,
        "expert_target_speed": 10.0,
        "target_point": [
            44.319031699135216,
            -0.6739477507199121
        ],
        "target_point_next": [
            70.57173622884547,
            -1.2978468312253604
        ]
    },
    "440": {
        "acceleration": [
            2.0938682556152344,
            -5.804309844970703,
            -0.008677095174789429
        ],
        "angular_velocity": [
            -1.0864404439926147,
            -1.1694257259368896,
            -4.914718151092529
        ],
        "forward_vector": [
            -0.16554276645183563,
            0.9861941337585449,
            -0.004088986199349165
        ],
        "right_vector": [
            -0.9861980080604553,
            -0.16555321216583252,
            -0.002359375823289156
        ],
        "location": [
            941.0095825195312,
            3503.638427734375,
            370.7497253417969
        ],
        "rotation": [
            0.13518352806568146,
            -0.23428229987621307,
            99.52884674072266
        ],
        "velocity": [
            -2.3685250282287598,
            14.124884605407715,
            0.04416663944721222
        ],
        "speed": 14.322090487265813,
        "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": 18.66368865966797,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                937.6282348632812,
                3521.9931640625,
                370.80810546875
            ],
            "velocity": [
                -1.281032681465149,
                7.95814323425293,
                0.021178578957915306
            ],
            "speed_kmh": 29.018219096301564,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.210685729980469,
                "transform": {
                    "location": {
                        "x": 944.391357421875,
                        "y": 3542.411376953125,
                        "z": 370.8488464355469
                    },
                    "rotation": {
                        "roll": 0.013331388123333454,
                        "pitch": 0.29761865735054016,
                        "yaw": -80.60542297363281
                    }
                },
                "velocity": {
                    "x": 1.1749627590179443,
                    "y": -7.114299774169922,
                    "z": -0.013689727522432804
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065281867980957,
                "transform": {
                    "location": {
                        "x": 951.2349853515625,
                        "y": 3500.056884765625,
                        "z": 370.73968505859375
                    },
                    "rotation": {
                        "roll": -0.0006713898619636893,
                        "pitch": -0.1885746866464615,
                        "yaw": -80.83500671386719
                    }
                },
                "velocity": {
                    "x": 1.2844840288162231,
                    "y": -7.962299823760986,
                    "z": -0.025417784228920937
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.191542625427246,
                "transform": {
                    "location": {
                        "x": 948.5757446289062,
                        "y": 3496.139404296875,
                        "z": 370.71771240234375
                    },
                    "rotation": {
                        "roll": 0.00016878137830644846,
                        "pitch": -0.19821207225322723,
                        "yaw": -80.86219787597656
                    }
                },
                "velocity": {
                    "x": 1.3010404109954834,
                    "y": -8.087508201599121,
                    "z": -0.0294934269040823
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065342903137207,
                "transform": {
                    "location": {
                        "x": 958.3812255859375,
                        "y": 3455.659912109375,
                        "z": 370.5594482421875
                    },
                    "rotation": {
                        "roll": 0.00029786350205540657,
                        "pitch": -0.2665686011314392,
                        "yaw": -80.86210632324219
                    }
                },
                "velocity": {
                    "x": 1.2808711528778076,
                    "y": -7.9628825187683105,
                    "z": -0.04044990986585617
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04243278503418,
                "transform": {
                    "location": {
                        "x": 955.5278930664062,
                        "y": 3452.9375,
                        "z": 370.5456237792969
                    },
                    "rotation": {
                        "roll": 0.00032820034539327025,
                        "pitch": -0.2974000871181488,
                        "yaw": -80.86968231201172
                    }
                },
                "velocity": {
                    "x": 1.277848482131958,
                    "y": -7.94016695022583,
                    "z": -0.0396915078163147
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.6722412109375,
                        "y": 3412.311767578125,
                        "z": 370.2953796386719
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.29248046875,
                        "y": 3427.099609375,
                        "z": 370.39678955078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.404160499572754,
                "transform": {
                    "location": {
                        "x": 941.571533203125,
                        "y": 3539.48876953125,
                        "z": 370.8316955566406
                    },
                    "rotation": {
                        "roll": -0.0007019045297056437,
                        "pitch": -0.024014944210648537,
                        "yaw": -80.5671157836914
                    }
                },
                "velocity": {
                    "x": 1.377234935760498,
                    "y": -8.290528297424316,
                    "z": -0.016934337094426155
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.060616493225098,
                "transform": {
                    "location": {
                        "x": 937.6282348632812,
                        "y": 3521.9931640625,
                        "z": 370.80810546875
                    },
                    "rotation": {
                        "roll": -0.000701911048963666,
                        "pitch": 0.15257275104522705,
                        "yaw": 99.14442443847656
                    }
                },
                "velocity": {
                    "x": -1.281032681465149,
                    "y": 7.95814323425293,
                    "z": 0.021178578957915306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033499717712402,
                "transform": {
                    "location": {
                        "x": 934.6867065429688,
                        "y": 3540.263671875,
                        "z": 370.8426513671875
                    },
                    "rotation": {
                        "roll": 0.0004161087272223085,
                        "pitch": 0.11458324640989304,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": -1.2764652967453003,
                    "y": 7.931427955627441,
                    "z": 0.014589824713766575
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 961.096923828125,
                        "y": 3397.24609375,
                        "z": 370.1742858886719
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.036046028137207,
                "transform": {
                    "location": {
                        "x": 953.0299682617188,
                        "y": 3446.742431640625,
                        "z": 370.5148010253906
                    },
                    "rotation": {
                        "roll": 0.0002566066978033632,
                        "pitch": 0.4444608688354492,
                        "yaw": 99.15446472167969
                    }
                },
                "velocity": {
                    "x": -1.9141383171081543,
                    "y": 11.882699966430664,
                    "z": 0.0625167042016983
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.863637924194336,
                "transform": {
                    "location": {
                        "x": 949.94677734375,
                        "y": 3465.90087890625,
                        "z": 370.6105651855469
                    },
                    "rotation": {
                        "roll": 0.00044064378016628325,
                        "pitch": 0.22010967135429382,
                        "yaw": 99.13835906982422
                    }
                },
                "velocity": {
                    "x": -2.042997121810913,
                    "y": 12.700252532958984,
                    "z": 0.05415084585547447
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.51699161529541,
                "transform": {
                    "location": {
                        "x": 945.4839477539062,
                        "y": 3493.623779296875,
                        "z": 370.7169494628906
                    },
                    "rotation": {
                        "roll": 0.0002387252898188308,
                        "pitch": 0.24532672762870789,
                        "yaw": 99.13622283935547
                    }
                },
                "velocity": {
                    "x": -2.146066427230835,
                    "y": 13.345454216003418,
                    "z": 0.04800786077976227
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1542801409959793,
        "expert_target_speed": 10.0,
        "target_point": [
            40.56831359734098,
            0.04878677805446063
        ],
        "target_point_next": [
            66.82783355495125,
            -0.12829168702001503
        ]
    },
    "445": {
        "acceleration": [
            1.8457245826721191,
            -5.804500579833984,
            0.02000078558921814
        ],
        "angular_velocity": [
            -0.30909422039985657,
            -0.31054073572158813,
            -4.379920959472656
        ],
        "forward_vector": [
            -0.14448322355747223,
            0.989477276802063,
            -0.007695360109210014
        ],
        "right_vector": [
            -0.989486575126648,
            -0.14452606439590454,
            -0.0053352657705545425
        ],
        "location": [
            940.485595703125,
            3506.963134765625,
            370.76025390625
        ],
        "rotation": [
            0.3056986927986145,
            -0.4409160017967224,
            98.30760192871094
        ],
        "velocity": [
            -1.838004231452942,
            12.569228172302246,
            0.03718002140522003
        ],
        "speed": 12.702903463469891,
        "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": 17.30532455444336,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                937.3092041015625,
                3523.974365234375,
                370.8133544921875
            ],
            "velocity": [
                -1.271690845489502,
                7.89699649810791,
                0.021412190049886703
            ],
            "speed_kmh": 28.79554685611111,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.5071382522583,
                "transform": {
                    "location": {
                        "x": 944.7033081054688,
                        "y": 3540.5224609375,
                        "z": 370.8456115722656
                    },
                    "rotation": {
                        "roll": 0.0054929861798882484,
                        "pitch": 0.237034872174263,
                        "yaw": -80.66887664794922
                    }
                },
                "velocity": {
                    "x": 1.3793689012527466,
                    "y": -8.394553184509277,
                    "z": -0.015103349462151527
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999233245849609,
                "transform": {
                    "location": {
                        "x": 951.5546875,
                        "y": 3498.075439453125,
                        "z": 370.7331237792969
                    },
                    "rotation": {
                        "roll": 0.00036056782118976116,
                        "pitch": -0.18615679442882538,
                        "yaw": -80.8355941772461
                    }
                },
                "velocity": {
                    "x": 1.274017095565796,
                    "y": -7.897084712982178,
                    "z": -0.025814585387706757
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.066570281982422,
                "transform": {
                    "location": {
                        "x": 948.8969116210938,
                        "y": 3494.142333984375,
                        "z": 370.7107238769531
                    },
                    "rotation": {
                        "roll": -0.00021363160340115428,
                        "pitch": -0.2114899605512619,
                        "yaw": -80.86466979980469
                    }
                },
                "velocity": {
                    "x": 1.2808998823165894,
                    "y": -7.964171409606934,
                    "z": -0.028619127348065376
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005867004394531,
                "transform": {
                    "location": {
                        "x": 958.7003173828125,
                        "y": 3453.6767578125,
                        "z": 370.5495910644531
                    },
                    "rotation": {
                        "roll": 0.0005015718634240329,
                        "pitch": -0.2935751676559448,
                        "yaw": -80.85881042480469
                    }
                },
                "velocity": {
                    "x": 1.2718440294265747,
                    "y": -7.904094696044922,
                    "z": -0.040111664682626724
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.040605545043945,
                "transform": {
                    "location": {
                        "x": 955.847412109375,
                        "y": 3450.95263671875,
                        "z": 370.5351867675781
                    },
                    "rotation": {
                        "roll": -0.0011596669210121036,
                        "pitch": -0.29708588123321533,
                        "yaw": -80.8420639038086
                    }
                },
                "velocity": {
                    "x": 1.2778388261795044,
                    "y": -7.938310146331787,
                    "z": -0.04114534333348274
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.1842651367188,
                        "y": 3415.34423828125,
                        "z": 370.31646728515625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.8004760742188,
                        "y": 3430.15576171875,
                        "z": 370.4172058105469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.016336441040039,
                "transform": {
                    "location": {
                        "x": 941.9072265625,
                        "y": 3537.45654296875,
                        "z": 370.828125
                    },
                    "rotation": {
                        "roll": 0.002367655746638775,
                        "pitch": -0.11605856567621231,
                        "yaw": -80.63947296142578
                    }
                },
                "velocity": {
                    "x": 1.2938275337219238,
                    "y": -7.911218166351318,
                    "z": -0.017069119960069656
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.998763084411621,
                "transform": {
                    "location": {
                        "x": 937.3092041015625,
                        "y": 3523.974365234375,
                        "z": 370.8133544921875
                    },
                    "rotation": {
                        "roll": 0.00047991564497351646,
                        "pitch": 0.1432768702507019,
                        "yaw": 99.14801788330078
                    }
                },
                "velocity": {
                    "x": -1.271690845489502,
                    "y": 7.89699649810791,
                    "z": 0.021412190049886703
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.967724323272705,
                "transform": {
                    "location": {
                        "x": 934.3682861328125,
                        "y": 3542.24267578125,
                        "z": 370.84625244140625
                    },
                    "rotation": {
                        "roll": 0.00020620989380404353,
                        "pitch": 0.08494705706834793,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": -1.2659920454025269,
                    "y": 7.866493225097656,
                    "z": 0.013390254229307175
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.5983276367188,
                        "y": 3400.34423828125,
                        "z": 370.20166015625
                    },
                    "rotation": {
                        "roll": 2.668139131856151e-08,
                        "pitch": 0.4876413345336914,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.645684242248535,
                "transform": {
                    "location": {
                        "x": 952.5347290039062,
                        "y": 3449.818359375,
                        "z": 370.5306701660156
                    },
                    "rotation": {
                        "roll": 0.0009005139581859112,
                        "pitch": 0.40867069363594055,
                        "yaw": 99.14546966552734
                    }
                },
                "velocity": {
                    "x": -2.0099895000457764,
                    "y": 12.484758377075195,
                    "z": 0.06395601481199265
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.961544036865234,
                "transform": {
                    "location": {
                        "x": 949.4351196289062,
                        "y": 3469.08154296875,
                        "z": 370.6238098144531
                    },
                    "rotation": {
                        "roll": -0.0008850031299516559,
                        "pitch": 0.2245834320783615,
                        "yaw": 99.13839721679688
                    }
                },
                "velocity": {
                    "x": -2.0584805011749268,
                    "y": 12.796934127807617,
                    "z": 0.05268315225839615
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.72575569152832,
                "transform": {
                    "location": {
                        "x": 944.9431762695312,
                        "y": 3496.98583984375,
                        "z": 370.7286376953125
                    },
                    "rotation": {
                        "roll": 0.0014128594193607569,
                        "pitch": 0.22497275471687317,
                        "yaw": 99.13804626464844
                    }
                },
                "velocity": {
                    "x": -2.1793079376220703,
                    "y": 13.551567077636719,
                    "z": 0.04475982487201691
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2289852648973465,
        "expert_target_speed": 10.0,
        "target_point": [
            37.19252876005217,
            0.875335853052408
        ],
        "target_point_next": [
            63.44985763162836,
            1.2579919869588156
        ]
    },
    "450": {
        "acceleration": [
            0.6088352203369141,
            -3.4317970275878906,
            -0.0034681707620620728
        ],
        "angular_velocity": [
            0.44910934567451477,
            0.6999897360801697,
            -0.45326900482177734
        ],
        "forward_vector": [
            -0.1360083520412445,
            0.9906853437423706,
            -0.006646106950938702
        ],
        "right_vector": [
            -0.990696907043457,
            -0.13603514432907104,
            -0.00375773711130023
        ],
        "location": [
            940.0603637695312,
            3509.95458984375,
            370.76861572265625
        ],
        "rotation": [
            0.21530774235725403,
            -0.3807966709136963,
            97.81710815429688
        ],
        "velocity": [
            -1.5893670320510864,
            11.506107330322266,
            0.03248051553964615
        ],
        "speed": 11.615360238041118,
        "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": 16.293930053710938,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                936.989990234375,
                3525.95654296875,
                370.81842041015625
            ],
            "velocity": [
                -1.281416416168213,
                7.957703590393066,
                0.02116500772535801
            ],
            "speed_kmh": 29.01687596185447,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.400213241577148,
                "transform": {
                    "location": {
                        "x": 945.0513305664062,
                        "y": 3538.402099609375,
                        "z": 370.8436279296875
                    },
                    "rotation": {
                        "roll": 0.0036745828110724688,
                        "pitch": -0.04314630106091499,
                        "yaw": -80.6741714477539
                    }
                },
                "velocity": {
                    "x": 1.3548834323883057,
                    "y": -8.29020881652832,
                    "z": -0.017735270783305168
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.067001342773438,
                "transform": {
                    "location": {
                        "x": 951.874267578125,
                        "y": 3496.092529296875,
                        "z": 370.72650146484375
                    },
                    "rotation": {
                        "roll": -0.0004577786021400243,
                        "pitch": -0.19198977947235107,
                        "yaw": -80.84314727783203
                    }
                },
                "velocity": {
                    "x": 1.2837029695510864,
                    "y": -7.9641571044921875,
                    "z": -0.028544267639517784
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.7355217933654785,
                "transform": {
                    "location": {
                        "x": 949.1777954101562,
                        "y": 3492.3955078125,
                        "z": 370.7047119140625
                    },
                    "rotation": {
                        "roll": -0.0005493148928508162,
                        "pitch": -0.24297714233398438,
                        "yaw": -80.85537719726562
                    }
                },
                "velocity": {
                    "x": 1.0695469379425049,
                    "y": -6.650013446807861,
                    "z": -0.025311721488833427
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06450366973877,
                "transform": {
                    "location": {
                        "x": 959.01953125,
                        "y": 3451.693359375,
                        "z": 370.5393371582031
                    },
                    "rotation": {
                        "roll": 0.00022411854297388345,
                        "pitch": -0.29553544521331787,
                        "yaw": -80.85790252685547
                    }
                },
                "velocity": {
                    "x": 1.281200647354126,
                    "y": -7.961976528167725,
                    "z": -0.04096653312444687
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043136596679688,
                "transform": {
                    "location": {
                        "x": 956.1666870117188,
                        "y": 3448.9677734375,
                        "z": 370.5248718261719
                    },
                    "rotation": {
                        "roll": 0.001825805869884789,
                        "pitch": -0.29632091522216797,
                        "yaw": -80.87293243408203
                    }
                },
                "velocity": {
                    "x": 1.2768869400024414,
                    "y": -7.941025733947754,
                    "z": -0.0414443165063858
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.6683349609375,
                        "y": 3418.550537109375,
                        "z": 370.3384704589844
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.2991943359375,
                        "y": 3433.271728515625,
                        "z": 370.4371032714844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.937313079833984,
                "transform": {
                    "location": {
                        "x": 942.225830078125,
                        "y": 3535.509033203125,
                        "z": 370.8240661621094
                    },
                    "rotation": {
                        "roll": 0.0011556451208889484,
                        "pitch": -0.12021132558584213,
                        "yaw": -80.71910095214844
                    }
                },
                "velocity": {
                    "x": 1.2779501676559448,
                    "y": -7.833741664886475,
                    "z": -0.01662498526275158
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.060243606567383,
                "transform": {
                    "location": {
                        "x": 936.989990234375,
                        "y": 3525.95654296875,
                        "z": 370.81842041015625
                    },
                    "rotation": {
                        "roll": 6.850220233900473e-05,
                        "pitch": 0.14107072353363037,
                        "yaw": 99.14747619628906
                    }
                },
                "velocity": {
                    "x": -1.281416416168213,
                    "y": 7.957703590393066,
                    "z": 0.02116500772535801
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.613099098205566,
                "transform": {
                    "location": {
                        "x": 934.0587768554688,
                        "y": 3544.16650390625,
                        "z": 370.8496398925781
                    },
                    "rotation": {
                        "roll": 0.0019139223732054234,
                        "pitch": -0.008360151201486588,
                        "yaw": 99.13687133789062
                    }
                },
                "velocity": {
                    "x": -1.207294225692749,
                    "y": 7.516749858856201,
                    "z": 0.013759021647274494
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.0608520507812,
                        "y": 3403.6845703125,
                        "z": 370.2294921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4521311819553375,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.637809753417969,
                "transform": {
                    "location": {
                        "x": 952.0332641601562,
                        "y": 3452.93359375,
                        "z": 370.5466613769531
                    },
                    "rotation": {
                        "roll": -0.0003051755775231868,
                        "pitch": 0.3239626884460449,
                        "yaw": 99.13895416259766
                    }
                },
                "velocity": {
                    "x": -2.008435010910034,
                    "y": 12.477028846740723,
                    "z": 0.06456222385168076
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.237848281860352,
                "transform": {
                    "location": {
                        "x": 948.9124755859375,
                        "y": 3472.328369140625,
                        "z": 370.6375732421875
                    },
                    "rotation": {
                        "roll": 0.00022720536799170077,
                        "pitch": 0.21134653687477112,
                        "yaw": 99.14608764648438
                    }
                },
                "velocity": {
                    "x": -2.104069709777832,
                    "y": 13.069454193115234,
                    "z": 0.05370673909783363
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.746302604675293,
                "transform": {
                    "location": {
                        "x": 944.3970947265625,
                        "y": 3500.3818359375,
                        "z": 370.7397155761719
                    },
                    "rotation": {
                        "roll": 0.000973994960077107,
                        "pitch": 0.20140177011489868,
                        "yaw": 99.13383483886719
                    }
                },
                "velocity": {
                    "x": -2.1828396320343018,
                    "y": 13.571809768676758,
                    "z": 0.045054301619529724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2867884039878845,
        "expert_target_speed": 10.0,
        "target_point": [
            34.16218046147683,
            1.179266665033225
        ],
        "target_point_next": [
            60.415271748179784,
            1.7866735130074165
        ]
    },
    "455": {
        "acceleration": [
            -0.024225711822509766,
            -0.8596611022949219,
            -0.0193193182349205
        ],
        "angular_velocity": [
            0.8589639663696289,
            0.5659378170967102,
            0.7724608182907104
        ],
        "forward_vector": [
            -0.1378035843372345,
            0.9904545545578003,
            -0.0031648820731788874
        ],
        "right_vector": [
            -0.9904581904411316,
            -0.13780811429023743,
            -0.0012577467132359743
        ],
        "location": [
            939.669921875,
            3512.763671875,
            370.7757873535156
        ],
        "rotation": [
            0.07206396013498306,
            -0.1813346892595291,
            97.92080688476562
        ],
        "velocity": [
            -1.545512080192566,
            11.06008529663086,
            0.031151218339800835
        ],
        "speed": 11.167546478916991,
        "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": 15.467876434326172,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                936.6710815429688,
                3527.93798828125,
                370.82342529296875
            ],
            "velocity": [
                -1.2725181579589844,
                7.898002624511719,
                0.021395206451416016
            ],
            "speed_kmh": 28.799596273817624,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.977636814117432,
                "transform": {
                    "location": {
                        "x": 945.379638671875,
                        "y": 3536.390625,
                        "z": 370.84124755859375
                    },
                    "rotation": {
                        "roll": 0.003913169261068106,
                        "pitch": -0.27334415912628174,
                        "yaw": -80.71623229980469
                    }
                },
                "velocity": {
                    "x": 1.282370686531067,
                    "y": -7.873875617980957,
                    "z": -0.01725703291594982
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00394344329834,
                "transform": {
                    "location": {
                        "x": 952.1937866210938,
                        "y": 3494.109375,
                        "z": 370.719482421875
                    },
                    "rotation": {
                        "roll": 0.00048325900570489466,
                        "pitch": -0.20541109144687653,
                        "yaw": -80.84711456298828
                    }
                },
                "velocity": {
                    "x": 1.2731597423553467,
                    "y": -7.901984691619873,
                    "z": -0.028743594884872437
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.1074724197387695,
                "transform": {
                    "location": {
                        "x": 949.4495239257812,
                        "y": 3490.70654296875,
                        "z": 370.6980285644531
                    },
                    "rotation": {
                        "roll": -0.0008239767048507929,
                        "pitch": -0.20297272503376007,
                        "yaw": -80.85176086425781
                    }
                },
                "velocity": {
                    "x": 1.1296113729476929,
                    "y": -7.017087459564209,
                    "z": -0.024989299476146698
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005772590637207,
                "transform": {
                    "location": {
                        "x": 959.338623046875,
                        "y": 3449.71044921875,
                        "z": 370.5289611816406
                    },
                    "rotation": {
                        "roll": -0.00012209122360218316,
                        "pitch": -0.29309022426605225,
                        "yaw": -80.85465240478516
                    }
                },
                "velocity": {
                    "x": 1.2724117040634155,
                    "y": -7.903903007507324,
                    "z": -0.04097010940313339
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041921615600586,
                "transform": {
                    "location": {
                        "x": 956.4861450195312,
                        "y": 3446.982421875,
                        "z": 370.5145263671875
                    },
                    "rotation": {
                        "roll": -0.00021363301493693143,
                        "pitch": -0.2958359718322754,
                        "yaw": -80.84661102294922
                    }
                },
                "velocity": {
                    "x": 1.2773505449295044,
                    "y": -7.939722537994385,
                    "z": -0.04116293042898178
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.1649780273438,
                        "y": 3421.677978515625,
                        "z": 370.35986328125
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.7947387695312,
                        "y": 3436.405517578125,
                        "z": 370.45654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.170835494995117,
                "transform": {
                    "location": {
                        "x": 942.5521850585938,
                        "y": 3533.508056640625,
                        "z": 370.81976318359375
                    },
                    "rotation": {
                        "roll": 0.0013021304039284587,
                        "pitch": -0.109071284532547,
                        "yaw": -80.74305725097656
                    }
                },
                "velocity": {
                    "x": 1.3093079328536987,
                    "y": -8.065229415893555,
                    "z": -0.018515391275286674
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.999887466430664,
                "transform": {
                    "location": {
                        "x": 936.6710815429688,
                        "y": 3527.93798828125,
                        "z": 370.82342529296875
                    },
                    "rotation": {
                        "roll": 0.0004609590978361666,
                        "pitch": 0.1427372843027115,
                        "yaw": 99.14253234863281
                    }
                },
                "velocity": {
                    "x": -1.2725181579589844,
                    "y": 7.898002624511719,
                    "z": 0.021395206451416016
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.324045658111572,
                "transform": {
                    "location": {
                        "x": 933.763427734375,
                        "y": 3546.0029296875,
                        "z": 370.8526611328125
                    },
                    "rotation": {
                        "roll": -0.0007019045297056437,
                        "pitch": -0.02859117090702057,
                        "yaw": 99.13484954833984
                    }
                },
                "velocity": {
                    "x": -1.1637290716171265,
                    "y": 7.230989933013916,
                    "z": 0.0126463882625103
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.5584106445312,
                        "y": 3406.80615234375,
                        "z": 370.25445556640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.754765510559082,
                "transform": {
                    "location": {
                        "x": 951.528076171875,
                        "y": 3456.07177734375,
                        "z": 370.56195068359375
                    },
                    "rotation": {
                        "roll": -0.00030517426785081625,
                        "pitch": 0.27712807059288025,
                        "yaw": 99.15023803710938
                    }
                },
                "velocity": {
                    "x": -2.0270144939422607,
                    "y": 12.592527389526367,
                    "z": 0.05921439826488495
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.09989070892334,
                "transform": {
                    "location": {
                        "x": 948.3890380859375,
                        "y": 3475.579833984375,
                        "z": 370.6510009765625
                    },
                    "rotation": {
                        "roll": -0.0003662187373265624,
                        "pitch": 0.24049778282642365,
                        "yaw": 99.14637756347656
                    }
                },
                "velocity": {
                    "x": -2.0823254585266113,
                    "y": 12.933222770690918,
                    "z": 0.053115833550691605
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.40755558013916,
                "transform": {
                    "location": {
                        "x": 943.8567504882812,
                        "y": 3503.739501953125,
                        "z": 370.75030517578125
                    },
                    "rotation": {
                        "roll": -0.00021362408006098121,
                        "pitch": 0.13398781418800354,
                        "yaw": 99.14501953125
                    }
                },
                "velocity": {
                    "x": -2.1299209594726562,
                    "y": 13.237232208251953,
                    "z": 0.04094625264406204
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.30317407846450806,
        "expert_target_speed": 10.0,
        "target_point": [
            31.32817229921847,
            1.1178236036118427
        ],
        "target_point_next": [
            57.58231989571266,
            1.6777157078813643
        ]
    },
    "460": {
        "acceleration": [
            -0.06582260131835938,
            -0.9395027160644531,
            0.001973547041416168
        ],
        "angular_velocity": [
            0.3394187092781067,
            0.26930975914001465,
            1.050307273864746
        ],
        "forward_vector": [
            -0.14193332195281982,
            0.9898761510848999,
            -0.0002481937117408961
        ],
        "right_vector": [
            -0.9898761510848999,
            -0.14193326234817505,
            0.0002604571345727891
        ],
        "location": [
            939.2811279296875,
            3515.502685546875,
            370.78271484375
        ],
        "rotation": [
            -0.014923095703125,
            -0.01422045286744833,
            98.15973663330078
        ],
        "velocity": [
            -1.5651687383651733,
            10.857580184936523,
            0.029470358043909073
        ],
        "speed": 10.969813154830025,
        "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": 14.712069511413574,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                936.3521118164062,
                3529.920166015625,
                370.8285217285156
            ],
            "velocity": [
                -1.2806953191757202,
                7.957061767578125,
                0.021010475233197212
            ],
            "speed_kmh": 29.014180717733772,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.973439693450928,
                "transform": {
                    "location": {
                        "x": 945.698486328125,
                        "y": 3534.4326171875,
                        "z": 370.8360900878906
                    },
                    "rotation": {
                        "roll": 0.0018542032921686769,
                        "pitch": -0.1577773541212082,
                        "yaw": -80.78569030761719
                    }
                },
                "velocity": {
                    "x": 1.277856469154358,
                    "y": -7.87035608291626,
                    "z": -0.017748594284057617
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06344223022461,
                "transform": {
                    "location": {
                        "x": 952.5132446289062,
                        "y": 3492.126220703125,
                        "z": 370.71221923828125
                    },
                    "rotation": {
                        "roll": 0.0006701233214698732,
                        "pitch": -0.2088330239057541,
                        "yaw": -80.84752655029297
                    }
                },
                "velocity": {
                    "x": 1.282666563987732,
                    "y": -7.960715293884277,
                    "z": -0.029462989419698715
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.705417633056641,
                "transform": {
                    "location": {
                        "x": 949.7489013671875,
                        "y": 3488.84716796875,
                        "z": 370.6911315917969
                    },
                    "rotation": {
                        "roll": -0.0003967267111875117,
                        "pitch": -0.18774822354316711,
                        "yaw": -80.85203552246094
                    }
                },
                "velocity": {
                    "x": 1.2249633073806763,
                    "y": -7.607377052307129,
                    "z": -0.0272419061511755
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065918922424316,
                "transform": {
                    "location": {
                        "x": 959.657958984375,
                        "y": 3447.726806640625,
                        "z": 370.51861572265625
                    },
                    "rotation": {
                        "roll": 0.00011578122939681634,
                        "pitch": -0.2943060100078583,
                        "yaw": -80.85558319091797
                    }
                },
                "velocity": {
                    "x": 1.2819442749023438,
                    "y": -7.963290214538574,
                    "z": -0.040860168635845184
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.7537231445312,
                        "y": 3444.963623046875,
                        "z": 370.5035095214844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.31338271498680115,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.659423828125,
                        "y": 3424.819580078125,
                        "z": 370.3814392089844
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.2903442382812,
                        "y": 3439.54052734375,
                        "z": 370.4754943847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.960485935211182,
                "transform": {
                    "location": {
                        "x": 942.8745727539062,
                        "y": 3531.520751953125,
                        "z": 370.8152160644531
                    },
                    "rotation": {
                        "roll": 0.0003800171834882349,
                        "pitch": -0.14602260291576385,
                        "yaw": -80.79042053222656
                    }
                },
                "velocity": {
                    "x": 1.271357536315918,
                    "y": -7.858286380767822,
                    "z": -0.017945794388651848
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.059494972229004,
                "transform": {
                    "location": {
                        "x": 936.3521118164062,
                        "y": 3529.920166015625,
                        "z": 370.8285217285156
                    },
                    "rotation": {
                        "roll": -0.00018310832092538476,
                        "pitch": 0.1416444480419159,
                        "yaw": 99.14334869384766
                    }
                },
                "velocity": {
                    "x": -1.2806953191757202,
                    "y": 7.957061767578125,
                    "z": 0.021010475233197212
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.153882026672363,
                "transform": {
                    "location": {
                        "x": 933.4757080078125,
                        "y": 3547.79150390625,
                        "z": 370.85546875
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.0019875848665833473,
                        "yaw": 99.13900756835938
                    }
                },
                "velocity": {
                    "x": -1.1373025178909302,
                    "y": 7.062891483306885,
                    "z": 0.01162099838256836
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.052490234375,
                        "y": 3409.950439453125,
                        "z": 370.27850341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.4166278541088104,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.541792869567871,
                "transform": {
                    "location": {
                        "x": 951.0243530273438,
                        "y": 3459.200927734375,
                        "z": 370.5759582519531
                    },
                    "rotation": {
                        "roll": 0.0001533604081487283,
                        "pitch": 0.23835310339927673,
                        "yaw": 99.1379623413086
                    }
                },
                "velocity": {
                    "x": -1.9934148788452148,
                    "y": 12.382229804992676,
                    "z": 0.05703430995345116
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.648322105407715,
                "transform": {
                    "location": {
                        "x": 947.8773803710938,
                        "y": 3478.75732421875,
                        "z": 370.663818359375
                    },
                    "rotation": {
                        "roll": -0.00015258704661391675,
                        "pitch": 0.2700110375881195,
                        "yaw": 99.14620208740234
                    }
                },
                "velocity": {
                    "x": -2.0105032920837402,
                    "y": 12.487401008605957,
                    "z": 0.05233443155884743
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.099210739135742,
                "transform": {
                    "location": {
                        "x": 943.331298828125,
                        "y": 3507.005615234375,
                        "z": 370.7599792480469
                    },
                    "rotation": {
                        "roll": 0.0005518458201549947,
                        "pitch": 0.12204181402921677,
                        "yaw": 99.13378143310547
                    }
                },
                "velocity": {
                    "x": -2.0806984901428223,
                    "y": 12.93285083770752,
                    "z": 0.03735746443271637
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.3335255980491638,
        "expert_target_speed": 10.0,
        "target_point": [
            28.566094089163432,
            0.9910700955452252
        ],
        "target_point_next": [
            54.82234824471107,
            1.4414731441718578
        ]
    },
    "465": {
        "acceleration": [
            0.23004531860351562,
            -2.946796417236328,
            0.0006408616900444031
        ],
        "angular_velocity": [
            -0.48631131649017334,
            0.011422565206885338,
            1.0451648235321045
        ],
        "forward_vector": [
            -0.14649364352226257,
            0.98921138048172,
            -0.0006977319135330617
        ],
        "right_vector": [
            -0.9892113208770752,
            -0.14649297297000885,
            0.0009241163497790694
        ],
        "location": [
            938.8915405273438,
            3518.1640625,
            370.7900695800781
        ],
        "rotation": [
            -0.052947986871004105,
            -0.039977096021175385,
            98.42378234863281
        ],
        "velocity": [
            -1.537042498588562,
            10.315555572509766,
            0.029233893379569054
        ],
        "speed": 10.429438451422236,
        "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": 14.032054901123047,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                936.0332641601562,
                3531.90185546875,
                370.83319091796875
            ],
            "velocity": [
                -1.27094304561615,
                7.898849964141846,
                0.017677364870905876
            ],
            "speed_kmh": 28.801673832210934,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.160783767700195,
                "transform": {
                    "location": {
                        "x": 946.0220336914062,
                        "y": 3532.435302734375,
                        "z": 370.8306579589844
                    },
                    "rotation": {
                        "roll": 0.0027795054484158754,
                        "pitch": -0.07205165922641754,
                        "yaw": -80.79087829589844
                    }
                },
                "velocity": {
                    "x": 1.304047703742981,
                    "y": -8.055899620056152,
                    "z": -0.018021440133452415
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004630088806152,
                "transform": {
                    "location": {
                        "x": 952.8325805664062,
                        "y": 3490.1435546875,
                        "z": 370.7049255371094
                    },
                    "rotation": {
                        "roll": 0.0006916411221027374,
                        "pitch": -0.20668834447860718,
                        "yaw": -80.85256958007812
                    }
                },
                "velocity": {
                    "x": 1.2725332975387573,
                    "y": -7.902780055999756,
                    "z": -0.028839701786637306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.651151657104492,
                "transform": {
                    "location": {
                        "x": 950.0875854492188,
                        "y": 3486.743408203125,
                        "z": 370.6830749511719
                    },
                    "rotation": {
                        "roll": 0.0007512782467529178,
                        "pitch": -0.1905827522277832,
                        "yaw": -80.85770416259766
                    }
                },
                "velocity": {
                    "x": 1.3737728595733643,
                    "y": -8.541316986083984,
                    "z": -0.03282078355550766
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 959.893798828125,
                        "y": 3445.656494140625,
                        "z": 370.504638671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.31338271498680115,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86230,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.0662231445312,
                        "y": 3442.904296875,
                        "z": 370.49169921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33260971307754517,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.1650390625,
                        "y": 3427.890869140625,
                        "z": 370.402099609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.7994995117188,
                        "y": 3442.590576171875,
                        "z": 370.4929504394531
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.09156608581543,
                "transform": {
                    "location": {
                        "x": 943.1950073242188,
                        "y": 3529.54248046875,
                        "z": 370.8102722167969
                    },
                    "rotation": {
                        "roll": -0.0005187958013266325,
                        "pitch": -0.14221136271953583,
                        "yaw": -80.80223083496094
                    }
                },
                "velocity": {
                    "x": 1.2934343814849854,
                    "y": -7.987490177154541,
                    "z": -0.02164335735142231
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00046443939209,
                "transform": {
                    "location": {
                        "x": 936.0332641601562,
                        "y": 3531.90185546875,
                        "z": 370.83319091796875
                    },
                    "rotation": {
                        "roll": 0.001080366550013423,
                        "pitch": 0.12935011088848114,
                        "yaw": 99.14017486572266
                    }
                },
                "velocity": {
                    "x": -1.27094304561615,
                    "y": 7.898849964141846,
                    "z": 0.017677364870905876
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.842946529388428,
                "transform": {
                    "location": {
                        "x": 933.1978759765625,
                        "y": 3549.51708984375,
                        "z": 370.8580627441406
                    },
                    "rotation": {
                        "roll": 3.547996675479226e-05,
                        "pitch": -0.03064022772014141,
                        "yaw": 99.14395904541016
                    }
                },
                "velocity": {
                    "x": -1.0875049829483032,
                    "y": 6.755971908569336,
                    "z": 0.009505834430456161
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.5547485351562,
                        "y": 3413.04248046875,
                        "z": 370.3003845214844
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.130478858947754,
                "transform": {
                    "location": {
                        "x": 950.5355224609375,
                        "y": 3462.23876953125,
                        "z": 370.5896301269531
                    },
                    "rotation": {
                        "roll": 0.0008474824717268348,
                        "pitch": 0.20586872100830078,
                        "yaw": 99.1464614868164
                    }
                },
                "velocity": {
                    "x": -1.9268347024917603,
                    "y": 11.976344108581543,
                    "z": 0.05489027872681618
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.461690902709961,
                "transform": {
                    "location": {
                        "x": 947.3775024414062,
                        "y": 3481.8623046875,
                        "z": 370.6767578125
                    },
                    "rotation": {
                        "roll": -0.0003967415832448751,
                        "pitch": 0.24626928567886353,
                        "yaw": 99.14614868164062
                    }
                },
                "velocity": {
                    "x": -1.9808114767074585,
                    "y": 12.303156852722168,
                    "z": 0.04962568357586861
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.781999588012695,
                "transform": {
                    "location": {
                        "x": 942.817626953125,
                        "y": 3510.19873046875,
                        "z": 370.7692565917969
                    },
                    "rotation": {
                        "roll": -0.0002136172552127391,
                        "pitch": 0.11605856567621231,
                        "yaw": 99.140625
                    }
                },
                "velocity": {
                    "x": -2.0294783115386963,
                    "y": 12.619803428649902,
                    "z": 0.035903699696063995
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.36247846484184265,
        "expert_target_speed": 9.653430925123784,
        "target_point": [
            25.880620918198666,
            0.8639068813938042
        ],
        "target_point_next": [
            52.13867189526572,
            1.1933064452564475
        ]
    },
    "470": {
        "acceleration": [
            1.0844087600708008,
            -8.058452606201172,
            -0.017903149127960205
        ],
        "angular_velocity": [
            -1.5136780738830566,
            -0.21630235016345978,
            0.8658361434936523
        ],
        "forward_vector": [
            -0.15069863200187683,
            0.9885526895523071,
            -0.007314020302146673
        ],
        "right_vector": [
            -0.9885797500610352,
            -0.15069477260112762,
            0.0010806809877976775
        ],
        "location": [
            938.5350341796875,
            3520.5244140625,
            370.79803466796875
        ],
        "rotation": [
            -0.061920128762722015,
            -0.4190662205219269,
            98.66764831542969
        ],
        "velocity": [
            -1.2982529401779175,
            8.442099571228027,
            0.023717736825346947
        ],
        "speed": 8.541340987644098,
        "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": 13.654439926147461,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                935.71435546875,
                3533.88427734375,
                370.8374938964844
            ],
            "velocity": [
                -1.280255675315857,
                7.9572649002075195,
                0.017077265307307243
            ],
            "speed_kmh": 29.014617790234542,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 936.69482421875,
                        "y": 3569.32861328125,
                        "z": 370.96337890625
                    },
                    "rotation": {
                        "roll": 8.337636359101452e-09,
                        "pitch": -0.05173185095191002,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.087931632995605,
                "transform": {
                    "location": {
                        "x": 946.3466796875,
                        "y": 3530.428466796875,
                        "z": 370.8264465332031
                    },
                    "rotation": {
                        "roll": 0.002319216961041093,
                        "pitch": -0.14761404693126678,
                        "yaw": -80.83623504638672
                    }
                },
                "velocity": {
                    "x": 1.2887989282608032,
                    "y": -7.984565734863281,
                    "z": -0.018708480522036552
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063990592956543,
                "transform": {
                    "location": {
                        "x": 953.1519165039062,
                        "y": 3488.16064453125,
                        "z": 370.6975402832031
                    },
                    "rotation": {
                        "roll": -0.000671397487167269,
                        "pitch": -0.21092988550662994,
                        "yaw": -80.85274505615234
                    }
                },
                "velocity": {
                    "x": 1.281927466392517,
                    "y": -7.961386680603027,
                    "z": -0.030404623597860336
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.209121704101562,
                "transform": {
                    "location": {
                        "x": 950.4205932617188,
                        "y": 3484.673583984375,
                        "z": 370.67535400390625
                    },
                    "rotation": {
                        "roll": -0.00045776006300002337,
                        "pitch": -0.2401699274778366,
                        "yaw": -80.86335754394531
                    }
                },
                "velocity": {
                    "x": 1.3043068647384644,
                    "y": -8.104771614074707,
                    "z": -0.033594727516174316
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86232,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 960.2233276367188,
                        "y": 3443.598876953125,
                        "z": 370.492919921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33260971307754517,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.6849975585938,
                        "y": 3430.873779296875,
                        "z": 370.421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.3212890625,
                        "y": 3445.560791015625,
                        "z": 370.5095520019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.032939910888672,
                "transform": {
                    "location": {
                        "x": 943.5173950195312,
                        "y": 3527.54931640625,
                        "z": 370.80517578125
                    },
                    "rotation": {
                        "roll": 0.0002502631687093526,
                        "pitch": -0.14370034635066986,
                        "yaw": -80.81306457519531
                    }
                },
                "velocity": {
                    "x": 1.2807945013046265,
                    "y": -7.930149555206299,
                    "z": -0.02048604004085064
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.059616088867188,
                "transform": {
                    "location": {
                        "x": 935.71435546875,
                        "y": 3533.88427734375,
                        "z": 370.8374938964844
                    },
                    "rotation": {
                        "roll": 0.000793981016613543,
                        "pitch": 0.11324453353881836,
                        "yaw": 99.14002227783203
                    }
                },
                "velocity": {
                    "x": -1.280255675315857,
                    "y": 7.9572649002075195,
                    "z": 0.017077265307307243
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.640388011932373,
                "transform": {
                    "location": {
                        "x": 932.9306030273438,
                        "y": 3551.178466796875,
                        "z": 370.86029052734375
                    },
                    "rotation": {
                        "roll": 7.648445898666978e-05,
                        "pitch": -0.040250301361083984,
                        "yaw": 99.14036560058594
                    }
                },
                "velocity": {
                    "x": -1.0548157691955566,
                    "y": 6.556067943572998,
                    "z": 0.00965957622975111
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 958.0726318359375,
                        "y": 3416.0390625,
                        "z": 370.32122802734375
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.88351821899414,
                "transform": {
                    "location": {
                        "x": 950.0589599609375,
                        "y": 3465.203125,
                        "z": 370.6026916503906
                    },
                    "rotation": {
                        "roll": 0.0005785684334114194,
                        "pitch": 0.1980549842119217,
                        "yaw": 99.12445831298828
                    }
                },
                "velocity": {
                    "x": -1.8863407373428345,
                    "y": 11.732731819152832,
                    "z": 0.05217234417796135
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.22968864440918,
                "transform": {
                    "location": {
                        "x": 946.8897705078125,
                        "y": 3484.89208984375,
                        "z": 370.6888122558594
                    },
                    "rotation": {
                        "roll": 0.00038896428304724395,
                        "pitch": 0.2504083812236786,
                        "yaw": 99.1460189819336
                    }
                },
                "velocity": {
                    "x": -1.9438893795013428,
                    "y": 12.074111938476562,
                    "z": 0.049082934856414795
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.646038055419922,
                "transform": {
                    "location": {
                        "x": 942.3131103515625,
                        "y": 3513.3369140625,
                        "z": 370.7781677246094
                    },
                    "rotation": {
                        "roll": -6.103829946368933e-05,
                        "pitch": 0.12930230796337128,
                        "yaw": 99.1264419555664
                    }
                },
                "velocity": {
                    "x": -2.0074243545532227,
                    "y": 12.48564338684082,
                    "z": 0.035151224583387375
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.2925059497356415,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.46011635661125183,
        "expert_target_speed": 8.521087503955727,
        "target_point": [
            23.4969423634543,
            0.7570328762617189
        ],
        "target_point_next": [
            49.75615739841377,
            0.9746815258863206
        ]
    },
    "475": {
        "acceleration": [
            0.6022167205810547,
            -4.5592498779296875,
            -0.027144253253936768
        ],
        "angular_velocity": [
            0.41877758502960205,
            0.05520152673125267,
            0.7449733018875122
        ],
        "forward_vector": [
            -0.15414592623710632,
            0.9880061149597168,
            -0.009108416736125946
        ],
        "right_vector": [
            -0.9880480170249939,
            -0.15414436161518097,
            0.0008772089495323598
        ],
        "location": [
            938.2387084960938,
            3522.430908203125,
            370.8035888671875
        ],
        "rotation": [
            -0.050262462347745895,
            -0.5218810439109802,
            98.86763763427734
        ],
        "velocity": [
            -1.0975488424301147,
            6.954356670379639,
            0.018809489905834198
        ],
        "speed": 7.040432526512378,
        "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": 13.668689727783203,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                935.4057006835938,
                3535.802734375,
                370.8410339355469
            ],
            "velocity": [
                -1.148882508277893,
                7.14096736907959,
                0.016428938135504723
            ],
            "speed_kmh": 26.03813476398543,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.15380023419857025,
                "transform": {
                    "location": {
                        "x": 936.69482421875,
                        "y": 3569.32861328125,
                        "z": 370.8470764160156
                    },
                    "rotation": {
                        "roll": -0.00039672807906754315,
                        "pitch": -0.0522167943418026,
                        "yaw": -80.85746765136719
                    }
                },
                "velocity": {
                    "x": 7.905689926701598e-06,
                    "y": -0.0001261960860574618,
                    "z": 0.15380017459392548
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.03691291809082,
                "transform": {
                    "location": {
                        "x": 946.6671752929688,
                        "y": 3528.44189453125,
                        "z": 370.8216247558594
                    },
                    "rotation": {
                        "roll": 0.001095989951863885,
                        "pitch": -0.17067958414554596,
                        "yaw": -80.82304382324219
                    }
                },
                "velocity": {
                    "x": 1.2799447774887085,
                    "y": -7.934309005737305,
                    "z": -0.02125192992389202
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00467300415039,
                "transform": {
                    "location": {
                        "x": 953.4710083007812,
                        "y": 3486.177734375,
                        "z": 370.6898498535156
                    },
                    "rotation": {
                        "roll": -0.0002746704558376223,
                        "pitch": -0.22519132494926453,
                        "yaw": -80.85664367675781
                    }
                },
                "velocity": {
                    "x": 1.271957516670227,
                    "y": -7.90291166305542,
                    "z": -0.029838455840945244
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.784435749053955,
                "transform": {
                    "location": {
                        "x": 950.740966796875,
                        "y": 3482.68212890625,
                        "z": 370.6672668457031
                    },
                    "rotation": {
                        "roll": 0.00011269907554378733,
                        "pitch": -0.23751981556415558,
                        "yaw": -80.86006164550781
                    }
                },
                "velocity": {
                    "x": 1.2373095750808716,
                    "y": -7.685408115386963,
                    "z": -0.03175068274140358
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 939.9035034179688,
                        "y": 3569.84521484375,
                        "z": 371.0760803222656
                    },
                    "rotation": {
                        "roll": 8.337636359101452e-09,
                        "pitch": -0.05173185095191002,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.214599609375,
                        "y": 3433.79736328125,
                        "z": 370.4404602050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.8518676757812,
                        "y": 3448.478759765625,
                        "z": 370.5252380371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.059514045715332,
                "transform": {
                    "location": {
                        "x": 943.8377075195312,
                        "y": 3525.56591796875,
                        "z": 370.8001403808594
                    },
                    "rotation": {
                        "roll": 0.0003823117003776133,
                        "pitch": -0.1447795182466507,
                        "yaw": -80.83077239990234
                    }
                },
                "velocity": {
                    "x": 1.2826777696609497,
                    "y": -7.956761837005615,
                    "z": -0.021026048809289932
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.232815265655518,
                "transform": {
                    "location": {
                        "x": 935.4057006835938,
                        "y": 3535.802734375,
                        "z": 370.8410339355469
                    },
                    "rotation": {
                        "roll": -0.00036621716571971774,
                        "pitch": 0.1707683801651001,
                        "yaw": 99.14002227783203
                    }
                },
                "velocity": {
                    "x": -1.148882508277893,
                    "y": 7.14096736907959,
                    "z": 0.016428938135504723
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.409994602203369,
                "transform": {
                    "location": {
                        "x": 932.6714477539062,
                        "y": 3552.789306640625,
                        "z": 370.86224365234375
                    },
                    "rotation": {
                        "roll": 7.501035724999383e-05,
                        "pitch": -0.032559510320425034,
                        "yaw": 99.13834381103516
                    }
                },
                "velocity": {
                    "x": -1.0170966386795044,
                    "y": 6.328783988952637,
                    "z": 0.006496562622487545
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.6002807617188,
                        "y": 3418.97314453125,
                        "z": 370.34136962890625
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.884689331054688,
                "transform": {
                    "location": {
                        "x": 949.5899047851562,
                        "y": 3468.12060546875,
                        "z": 370.6150207519531
                    },
                    "rotation": {
                        "roll": -0.0003051864914596081,
                        "pitch": 0.23001344501972198,
                        "yaw": 99.1408920288086
                    }
                },
                "velocity": {
                    "x": -1.8874038457870483,
                    "y": 11.733762741088867,
                    "z": 0.04858032986521721
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.604108810424805,
                "transform": {
                    "location": {
                        "x": 946.3943481445312,
                        "y": 3487.96923828125,
                        "z": 370.70123291015625
                    },
                    "rotation": {
                        "roll": -0.00018310861196368933,
                        "pitch": 0.17632132768630981,
                        "yaw": 99.14618682861328
                    }
                },
                "velocity": {
                    "x": -2.0034303665161133,
                    "y": 12.443779945373535,
                    "z": 0.046474799513816833
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.204307556152344,
                "transform": {
                    "location": {
                        "x": 941.8187866210938,
                        "y": 3516.411865234375,
                        "z": 370.7865905761719
                    },
                    "rotation": {
                        "roll": -0.0010681190760806203,
                        "pitch": 0.09893528372049332,
                        "yaw": 99.1370620727539
                    }
                },
                "velocity": {
                    "x": -1.9366810321807861,
                    "y": 12.0496187210083,
                    "z": 0.032889652997255325
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5427793264389038,
        "expert_target_speed": 7.422206604344955,
        "target_point": [
            21.570056318181383,
            0.6761195105350506
        ],
        "target_point_next": [
            47.829871082062255,
            0.8021105958921915
        ]
    },
    "480": {
        "acceleration": [
            4.232229232788086,
            -26.45726203918457,
            -0.151530459523201
        ],
        "angular_velocity": [
            -4.872729301452637,
            -0.9539821743965149,
            0.3846971094608307
        ],
        "forward_vector": [
            -0.1568150371313095,
            0.987529456615448,
            -0.013945961371064186
        ],
        "right_vector": [
            -0.9876266121864319,
            -0.1568225473165512,
            0.0005608070059679449
        ],
        "location": [
            938.0025024414062,
            3523.917724609375,
            370.8084411621094
        ],
        "rotation": [
            -0.0321350023150444,
            -0.7990705966949463,
            99.02296447753906
        ],
        "velocity": [
            -0.6525347232818604,
            4.058895111083984,
            0.007021207828074694
        ],
        "speed": 4.1110133894053424,
        "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": 13.64242172241211,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                935.1705932617188,
                3537.262939453125,
                370.8432312011719
            ],
            "velocity": [
                -0.8323506116867065,
                5.170212268829346,
                0.010400943458080292
            ],
            "speed_kmh": 18.852458134206,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.196187138557434,
                "transform": {
                    "location": {
                        "x": 936.7140502929688,
                        "y": 3569.216796875,
                        "z": 370.8744812011719
                    },
                    "rotation": {
                        "roll": -0.007537849713116884,
                        "pitch": 0.14037403464317322,
                        "yaw": -80.83830261230469
                    }
                },
                "velocity": {
                    "x": 0.20310021936893463,
                    "y": -1.1774985790252686,
                    "z": 0.05577763542532921
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.084229469299316,
                "transform": {
                    "location": {
                        "x": 946.9880981445312,
                        "y": 3526.452392578125,
                        "z": 370.816162109375
                    },
                    "rotation": {
                        "roll": 0.0011193404207006097,
                        "pitch": -0.1363510638475418,
                        "yaw": -80.85911560058594
                    }
                },
                "velocity": {
                    "x": 1.2861257791519165,
                    "y": -7.981239318847656,
                    "z": -0.021393217146396637
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064162254333496,
                "transform": {
                    "location": {
                        "x": 953.7902221679688,
                        "y": 3484.194580078125,
                        "z": 370.68206787109375
                    },
                    "rotation": {
                        "roll": 0.000122224009828642,
                        "pitch": -0.229125514626503,
                        "yaw": -80.85672760009766
                    }
                },
                "velocity": {
                    "x": 1.2814393043518066,
                    "y": -7.961629390716553,
                    "z": -0.03293789178133011
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.803589820861816,
                "transform": {
                    "location": {
                        "x": 951.0205078125,
                        "y": 3480.9443359375,
                        "z": 370.6604309082031
                    },
                    "rotation": {
                        "roll": -0.00021361898689065129,
                        "pitch": -0.25775083899497986,
                        "yaw": -80.85710144042969
                    }
                },
                "velocity": {
                    "x": 1.080682396888733,
                    "y": -6.71715784072876,
                    "z": -0.027477212250232697
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.01128491759300232,
                "transform": {
                    "location": {
                        "x": 939.9035034179688,
                        "y": 3569.84521484375,
                        "z": 370.8178405761719
                    },
                    "rotation": {
                        "roll": -0.00027466006577014923,
                        "pitch": -0.052612945437431335,
                        "yaw": -80.85777282714844
                    }
                },
                "velocity": {
                    "x": 0.00012830362538807094,
                    "y": 1.613760287000332e-05,
                    "z": -0.0112841771915555
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.7388916015625,
                        "y": 3436.752685546875,
                        "z": 370.4586181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.3734130859375,
                        "y": 3451.451171875,
                        "z": 370.5404357910156
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.033051490783691,
                "transform": {
                    "location": {
                        "x": 944.158203125,
                        "y": 3523.579345703125,
                        "z": 370.7949523925781
                    },
                    "rotation": {
                        "roll": 7.590606401208788e-05,
                        "pitch": -0.14776431024074554,
                        "yaw": -80.83671569824219
                    }
                },
                "velocity": {
                    "x": 1.2778780460357666,
                    "y": -7.930731773376465,
                    "z": -0.020980991423130035
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2367939949035645,
                "transform": {
                    "location": {
                        "x": 935.1705932617188,
                        "y": 3537.262939453125,
                        "z": 370.8432312011719
                    },
                    "rotation": {
                        "roll": 0.00042154244147241116,
                        "pitch": 0.28071391582489014,
                        "yaw": 99.1420669555664
                    }
                },
                "velocity": {
                    "x": -0.8323506116867065,
                    "y": 5.170212268829346,
                    "z": 0.010400943458080292
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.190237522125244,
                "transform": {
                    "location": {
                        "x": 932.4214477539062,
                        "y": 3554.3427734375,
                        "z": 370.8639221191406
                    },
                    "rotation": {
                        "roll": -0.0014953614445403218,
                        "pitch": -0.03644588589668274,
                        "yaw": 99.14301300048828
                    }
                },
                "velocity": {
                    "x": -0.9850415587425232,
                    "y": 6.111357688903809,
                    "z": 0.006426935084164143
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.1273803710938,
                        "y": 3421.911376953125,
                        "z": 370.36151123046875
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.157008171081543,
                "transform": {
                    "location": {
                        "x": 949.1102905273438,
                        "y": 3471.1025390625,
                        "z": 370.6275939941406
                    },
                    "rotation": {
                        "roll": -0.0009155489969998598,
                        "pitch": 0.27078965306282043,
                        "yaw": 99.13191223144531
                    }
                },
                "velocity": {
                    "x": -1.930792212486267,
                    "y": 12.002603530883789,
                    "z": 0.04906151816248894
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.534547805786133,
                "transform": {
                    "location": {
                        "x": 945.8984375,
                        "y": 3491.049560546875,
                        "z": 370.7122497558594
                    },
                    "rotation": {
                        "roll": 8.516445814166218e-05,
                        "pitch": 0.20400407910346985,
                        "yaw": 99.14611053466797
                    }
                },
                "velocity": {
                    "x": -1.9923958778381348,
                    "y": 12.375105857849121,
                    "z": 0.044963616877794266
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.609838485717773,
                "transform": {
                    "location": {
                        "x": 941.3468017578125,
                        "y": 3519.34765625,
                        "z": 370.794677734375
                    },
                    "rotation": {
                        "roll": 0.0006117959273979068,
                        "pitch": 0.07158038020133972,
                        "yaw": 99.12491607666016
                    }
                },
                "velocity": {
                    "x": -1.8429936170578003,
                    "y": 11.462577819824219,
                    "z": 0.03235619515180588
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5649473071098328,
        "expert_target_speed": 4.8968343308713,
        "target_point": [
            20.066347886872517,
            0.6175336655675578
        ],
        "target_point_next": [
            46.32640771685637,
            0.6723325030826306
        ]
    },
    "485": {
        "acceleration": [
            0.02548125758767128,
            -0.1515071541070938,
            0.019227121025323868
        ],
        "angular_velocity": [
            3.624573230743408,
            0.5381349921226501,
            0.0028192142490297556
        ],
        "forward_vector": [
            -0.15733414888381958,
            0.9871567487716675,
            -0.02770283818244934
        ],
        "right_vector": [
            -0.9875364303588867,
            -0.1573902666568756,
            0.0001570666063344106
        ],
        "location": [
            937.9561767578125,
            3524.20703125,
            370.8119201660156
        ],
        "rotation": [
            -0.009002708829939365,
            -1.587458848953247,
            99.05570220947266
        ],
        "velocity": [
            0.0015706230187788606,
            -0.010553653351962566,
            -0.0005520741688087583
        ],
        "speed": 0.010669885460514969,
        "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": 14.633194923400879,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                934.9663696289062,
                3538.531494140625,
                370.84686279296875
            ],
            "velocity": [
                -0.8472025394439697,
                5.264155864715576,
                0.01065547950565815
            ],
            "speed_kmh": 19.194855205115186,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6281261444091797,
                "transform": {
                    "location": {
                        "x": 936.7978515625,
                        "y": 3568.735595703125,
                        "z": 370.8805236816406
                    },
                    "rotation": {
                        "roll": -0.011688232421875,
                        "pitch": 0.2265641987323761,
                        "yaw": -80.63496398925781
                    }
                },
                "velocity": {
                    "x": 0.4516755938529968,
                    "y": -2.5890116691589355,
                    "z": 0.007367753889411688
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.089886665344238,
                "transform": {
                    "location": {
                        "x": 947.3096923828125,
                        "y": 3524.454833984375,
                        "z": 370.8109436035156
                    },
                    "rotation": {
                        "roll": 7.010302215348929e-05,
                        "pitch": -0.13937683403491974,
                        "yaw": -80.83580017089844
                    }
                },
                "velocity": {
                    "x": 1.2877248525619507,
                    "y": -7.98671293258667,
                    "z": -0.02146986499428749
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005025863647461,
                "transform": {
                    "location": {
                        "x": 954.1092529296875,
                        "y": 3482.2119140625,
                        "z": 370.6739501953125
                    },
                    "rotation": {
                        "roll": 0.00035527930594980717,
                        "pitch": -0.2268032431602478,
                        "yaw": -80.86012268066406
                    }
                },
                "velocity": {
                    "x": 1.2713685035705566,
                    "y": -7.903354167938232,
                    "z": -0.03257691487669945
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.293161869049072,
                "transform": {
                    "location": {
                        "x": 951.2978515625,
                        "y": 3479.22119140625,
                        "z": 370.6529846191406
                    },
                    "rotation": {
                        "roll": -0.0007019139593467116,
                        "pitch": -0.2227461189031601,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 1.1587389707565308,
                    "y": -7.200459957122803,
                    "z": -0.030169367790222168
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6299564242362976,
                "transform": {
                    "location": {
                        "x": 939.9082641601562,
                        "y": 3569.817626953125,
                        "z": 370.84808349609375
                    },
                    "rotation": {
                        "roll": -0.006286619231104851,
                        "pitch": 0.06454528123140335,
                        "yaw": -80.86094665527344
                    }
                },
                "velocity": {
                    "x": 0.10607772320508957,
                    "y": -0.6078113913536072,
                    "z": 0.1271139681339264
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.2567138671875,
                        "y": 3439.749267578125,
                        "z": 370.47662353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.8917236328125,
                        "y": 3454.444580078125,
                        "z": 370.555419921875
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.070923805236816,
                "transform": {
                    "location": {
                        "x": 944.4786987304688,
                        "y": 3521.591796875,
                        "z": 370.78961181640625
                    },
                    "rotation": {
                        "roll": 0.0007020113407634199,
                        "pitch": -0.1584194004535675,
                        "yaw": -80.84153747558594
                    }
                },
                "velocity": {
                    "x": 1.2824862003326416,
                    "y": -7.968347072601318,
                    "z": -0.02200893871486187
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.331904411315918,
                "transform": {
                    "location": {
                        "x": 934.9663696289062,
                        "y": 3538.531494140625,
                        "z": 370.84686279296875
                    },
                    "rotation": {
                        "roll": 3.4544595109764487e-05,
                        "pitch": 0.147880420088768,
                        "yaw": 99.12834930419922
                    }
                },
                "velocity": {
                    "x": -0.8472025394439697,
                    "y": 5.264155864715576,
                    "z": 0.01065547950565815
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.954174518585205,
                "transform": {
                    "location": {
                        "x": 932.1801147460938,
                        "y": 3555.841064453125,
                        "z": 370.8656311035156
                    },
                    "rotation": {
                        "roll": -6.103648047428578e-05,
                        "pitch": -0.03087928332388401,
                        "yaw": 99.14498138427734
                    }
                },
                "velocity": {
                    "x": -0.9463756084442139,
                    "y": 5.878479957580566,
                    "z": 0.006361808627843857
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.6451416015625,
                        "y": 3424.908447265625,
                        "z": 370.38201904296875
                    },
                    "rotation": {
                        "roll": -1.3340518023596815e-08,
                        "pitch": 0.3875039219856262,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.052117347717285,
                "transform": {
                    "location": {
                        "x": 948.62890625,
                        "y": 3474.09375,
                        "z": 370.6401062011719
                    },
                    "rotation": {
                        "roll": 3.040260162379127e-05,
                        "pitch": 0.2361128032207489,
                        "yaw": 99.15394592285156
                    }
                },
                "velocity": {
                    "x": -1.9165350198745728,
                    "y": 11.898656845092773,
                    "z": 0.048751991242170334
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.981033325195312,
                "transform": {
                    "location": {
                        "x": 945.4073486328125,
                        "y": 3494.099609375,
                        "z": 370.72296142578125
                    },
                    "rotation": {
                        "roll": -0.00039672834100201726,
                        "pitch": 0.24912430346012115,
                        "yaw": 99.14604949951172
                    }
                },
                "velocity": {
                    "x": -1.904384732246399,
                    "y": 11.828643798828125,
                    "z": 0.04102493077516556
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.516456604003906,
                "transform": {
                    "location": {
                        "x": 940.9013671875,
                        "y": 3522.116455078125,
                        "z": 370.80230712890625
                    },
                    "rotation": {
                        "roll": -0.00030517569393850863,
                        "pitch": -0.0037566039245575666,
                        "yaw": 99.1381607055664
                    }
                },
                "velocity": {
                    "x": -1.6709825992584229,
                    "y": 10.382817268371582,
                    "z": 0.028072737157344818
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5563744902610779,
        "expert_target_speed": 1.022033403503428,
        "target_point": [
            19.773705593584104,
            0.605848111332107
        ],
        "target_point_next": [
            46.033792461735274,
            0.6456333357169983
        ]
    },
    "490": {
        "acceleration": [
            -0.007852165028452873,
            0.027591325342655182,
            0.0055109779350459576
        ],
        "angular_velocity": [
            3.0265655517578125,
            0.4209962487220764,
            0.0012708506546914577
        ],
        "forward_vector": [
            -0.15739350020885468,
            0.987481415271759,
            -0.01038079708814621
        ],
        "right_vector": [
            -0.9875347018241882,
            -0.1574016958475113,
            2.769473758235108e-05
        ],
        "location": [
            937.9552001953125,
            3524.21337890625,
            370.8082275390625
        ],
        "rotation": [
            -0.001586877042427659,
            -0.594786524772644,
            99.0561294555664
        ],
        "velocity": [
            0.0013212136691436172,
            -0.009403621777892113,
            0.002102992730215192
        ],
        "speed": 0.009495983787958927,
        "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": 16.023605346679688,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                934.7440185546875,
                3539.911865234375,
                370.8501892089844
            ],
            "velocity": [
                -0.8940109610557556,
                5.5538811683654785,
                0.009511423297226429
            ],
            "speed_kmh": 20.25138142423608,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.246314525604248,
                "transform": {
                    "location": {
                        "x": 936.94482421875,
                        "y": 3567.877685546875,
                        "z": 370.8807678222656
                    },
                    "rotation": {
                        "roll": 0.002834293758496642,
                        "pitch": 0.27282506227493286,
                        "yaw": -80.48255920410156
                    }
                },
                "velocity": {
                    "x": 0.7085598111152649,
                    "y": -4.1867804527282715,
                    "z": -0.0016415786230936646
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.067605018615723,
                "transform": {
                    "location": {
                        "x": 947.6309204101562,
                        "y": 3522.46142578125,
                        "z": 370.80572509765625
                    },
                    "rotation": {
                        "roll": 5.1373368478380144e-05,
                        "pitch": -0.16378793120384216,
                        "yaw": -80.86628723144531
                    }
                },
                "velocity": {
                    "x": 1.2826085090637207,
                    "y": -7.964966773986816,
                    "z": -0.021611608564853668
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064452171325684,
                "transform": {
                    "location": {
                        "x": 954.4282836914062,
                        "y": 3480.228759765625,
                        "z": 370.66595458984375
                    },
                    "rotation": {
                        "roll": 0.0003229290887247771,
                        "pitch": -0.2282034307718277,
                        "yaw": -80.86494445800781
                    }
                },
                "velocity": {
                    "x": 1.280226469039917,
                    "y": -7.9621171951293945,
                    "z": -0.03316821902990341
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.109914779663086,
                "transform": {
                    "location": {
                        "x": 951.6027221679688,
                        "y": 3477.326904296875,
                        "z": 370.6451416015625
                    },
                    "rotation": {
                        "roll": -0.0007934549357742071,
                        "pitch": -0.2186889797449112,
                        "yaw": -80.85874938964844
                    }
                },
                "velocity": {
                    "x": 1.2884348630905151,
                    "y": -8.006847381591797,
                    "z": -0.03237980604171753
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7020858526229858,
                "transform": {
                    "location": {
                        "x": 939.9637451171875,
                        "y": 3569.5,
                        "z": 370.8670959472656
                    },
                    "rotation": {
                        "roll": -0.015655523166060448,
                        "pitch": 0.34008193016052246,
                        "yaw": -80.77220153808594
                    }
                },
                "velocity": {
                    "x": 0.29492753744125366,
                    "y": -1.675778865814209,
                    "z": 0.04335290938615799
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.882568359375,
                        "y": 3442.07421875,
                        "z": 370.4898681640625
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.459750175476074,
                "transform": {
                    "location": {
                        "x": 951.44287109375,
                        "y": 3457.2080078125,
                        "z": 370.5673828125
                    },
                    "rotation": {
                        "roll": -0.02532958798110485,
                        "pitch": 0.03887060284614563,
                        "yaw": 99.32982635498047
                    }
                },
                "velocity": {
                    "x": -1.7194689512252808,
                    "y": 10.317366600036621,
                    "z": 0.04177415743470192
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021834373474121,
                "transform": {
                    "location": {
                        "x": 944.7984008789062,
                        "y": 3519.6064453125,
                        "z": 370.7840881347656
                    },
                    "rotation": {
                        "roll": -6.103170744609088e-05,
                        "pitch": -0.15765441954135895,
                        "yaw": -80.85155487060547
                    }
                },
                "velocity": {
                    "x": 1.2739018201828003,
                    "y": -7.92000675201416,
                    "z": -0.02212752215564251
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.6253838539123535,
                "transform": {
                    "location": {
                        "x": 934.7440185546875,
                        "y": 3539.911865234375,
                        "z": 370.8501892089844
                    },
                    "rotation": {
                        "roll": 0.0010078672785311937,
                        "pitch": 0.07388215512037277,
                        "yaw": 99.08904266357422
                    }
                },
                "velocity": {
                    "x": -0.8940109610557556,
                    "y": 5.5538811683654785,
                    "z": 0.009511423297226429
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.084139823913574,
                "transform": {
                    "location": {
                        "x": 931.9539794921875,
                        "y": 3557.246826171875,
                        "z": 370.8675842285156
                    },
                    "rotation": {
                        "roll": 0.00012603867799043655,
                        "pitch": -0.13473230600357056,
                        "yaw": 99.14466857910156
                    }
                },
                "velocity": {
                    "x": -0.8080193400382996,
                    "y": 5.019516944885254,
                    "z": 0.005515260621905327
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 956.1744995117188,
                        "y": 3427.83203125,
                        "z": 370.40167236328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.553792953491211,
                "transform": {
                    "location": {
                        "x": 948.160888671875,
                        "y": 3477.0009765625,
                        "z": 370.6521911621094
                    },
                    "rotation": {
                        "roll": -0.00012206354585941881,
                        "pitch": 0.18051506578922272,
                        "yaw": 99.13289642333984
                    }
                },
                "velocity": {
                    "x": -1.836020588874817,
                    "y": 11.406874656677246,
                    "z": 0.04858364164829254
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.246850967407227,
                "transform": {
                    "location": {
                        "x": 944.9296875,
                        "y": 3497.068115234375,
                        "z": 370.7335205078125
                    },
                    "rotation": {
                        "roll": 0.0006980898906476796,
                        "pitch": 0.1742449402809143,
                        "yaw": 99.1412582397461
                    }
                },
                "velocity": {
                    "x": -1.9456866979599,
                    "y": 12.091235160827637,
                    "z": 0.04124211147427559
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.665607452392578,
                "transform": {
                    "location": {
                        "x": 940.5053100585938,
                        "y": 3524.57861328125,
                        "z": 370.8088073730469
                    },
                    "rotation": {
                        "roll": 0.0002601736050564796,
                        "pitch": -0.0009152452694252133,
                        "yaw": 99.12159729003906
                    }
                },
                "velocity": {
                    "x": -1.5348104238510132,
                    "y": 9.542940139770508,
                    "z": 0.02482587844133377
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5672035813331604,
        "expert_target_speed": 1.0639947656151634,
        "target_point": [
            19.767287827705303,
            0.6057367082316398
        ],
        "target_point_next": [
            46.02737498919086,
            0.6453278449449025
        ]
    },
    "495": {
        "acceleration": [
            -0.44739365577697754,
            2.5175833702087402,
            0.0003765104338526726
        ],
        "angular_velocity": [
            1.8877207040786743,
            0.33189842104911804,
            -0.27804046869277954
        ],
        "forward_vector": [
            -0.15710283815860748,
            0.987582266330719,
            0.00016152857278939337
        ],
        "right_vector": [
            -0.987582266330719,
            -0.15710285305976868,
            4.846951924264431e-05
        ],
        "location": [
            937.947021484375,
            3524.263427734375,
            370.8062438964844
        ],
        "rotation": [
            -0.002777098910883069,
            0.00925490539520979,
            99.03877258300781
        ],
        "velocity": [
            -0.07827149331569672,
            0.4668145775794983,
            0.0020019912626594305
        ],
        "speed": 0.4733310432525999,
        "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": 17.636981964111328,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                934.4796752929688,
                3541.55615234375,
                370.85406494140625
            ],
            "velocity": [
                -1.1844106912612915,
                7.360036373138428,
                0.011875467374920845
            ],
            "speed_kmh": 26.837053534913487,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.498659133911133,
                "transform": {
                    "location": {
                        "x": 937.15234375,
                        "y": 3566.65283203125,
                        "z": 370.8800964355469
                    },
                    "rotation": {
                        "roll": -0.0009155462612397969,
                        "pitch": 0.23132483661174774,
                        "yaw": -80.42274475097656
                    }
                },
                "velocity": {
                    "x": 0.9194069504737854,
                    "y": -5.421247959136963,
                    "z": -0.004048938862979412
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.072576522827148,
                "transform": {
                    "location": {
                        "x": 947.9513549804688,
                        "y": 3520.469970703125,
                        "z": 370.8002014160156
                    },
                    "rotation": {
                        "roll": -0.00021363100677262992,
                        "pitch": -0.16113781929016113,
                        "yaw": -80.84030151367188
                    }
                },
                "velocity": {
                    "x": 1.283358097076416,
                    "y": -7.969882011413574,
                    "z": -0.021625488996505737
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005372047424316,
                "transform": {
                    "location": {
                        "x": 954.7470703125,
                        "y": 3478.245849609375,
                        "z": 370.65771484375
                    },
                    "rotation": {
                        "roll": 0.0015559220919385552,
                        "pitch": -0.23571664094924927,
                        "yaw": -80.86540985107422
                    }
                },
                "velocity": {
                    "x": 1.270898699760437,
                    "y": -7.903779029846191,
                    "z": -0.03283432498574257
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.57058048248291,
                "transform": {
                    "location": {
                        "x": 951.9453125,
                        "y": 3475.196533203125,
                        "z": 370.63623046875
                    },
                    "rotation": {
                        "roll": 0.0001351573591819033,
                        "pitch": -0.22119566798210144,
                        "yaw": -80.83302307128906
                    }
                },
                "velocity": {
                    "x": 1.3627078533172607,
                    "y": -8.46147346496582,
                    "z": -0.03672737628221512
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.724464178085327,
                "transform": {
                    "location": {
                        "x": 940.0575561523438,
                        "y": 3568.962646484375,
                        "z": 370.8726806640625
                    },
                    "rotation": {
                        "roll": -0.019134486094117165,
                        "pitch": 0.3734952211380005,
                        "yaw": -80.53584289550781
                    }
                },
                "velocity": {
                    "x": 0.4743614196777344,
                    "y": -2.6828339099884033,
                    "z": 0.00941840186715126
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.374267578125,
                        "y": 3445.232666015625,
                        "z": 370.50787353515625
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.284415245056152,
                "transform": {
                    "location": {
                        "x": 951.0059204101562,
                        "y": 3459.764404296875,
                        "z": 370.5785217285156
                    },
                    "rotation": {
                        "roll": -0.02938840724527836,
                        "pitch": 0.19634060561656952,
                        "yaw": 99.84484100341797
                    }
                },
                "velocity": {
                    "x": -1.7593766450881958,
                    "y": 10.132710456848145,
                    "z": 0.04442959651350975
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076774597167969,
                "transform": {
                    "location": {
                        "x": 945.118408203125,
                        "y": 3517.618896484375,
                        "z": 370.7785339355469
                    },
                    "rotation": {
                        "roll": -0.0007324204198084772,
                        "pitch": -0.15708068013191223,
                        "yaw": -80.85490417480469
                    }
                },
                "velocity": {
                    "x": 1.2837342023849487,
                    "y": -7.97407341003418,
                    "z": -0.021739358082413673
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.454737186431885,
                "transform": {
                    "location": {
                        "x": 934.4796752929688,
                        "y": 3541.55615234375,
                        "z": 370.85406494140625
                    },
                    "rotation": {
                        "roll": -0.0005187994102016091,
                        "pitch": -0.052886150777339935,
                        "yaw": 99.10395050048828
                    }
                },
                "velocity": {
                    "x": -1.1844106912612915,
                    "y": 7.360036373138428,
                    "z": 0.011875467374920845
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.4203782081604,
                "transform": {
                    "location": {
                        "x": 931.7833862304688,
                        "y": 3558.305908203125,
                        "z": 370.8689270019531
                    },
                    "rotation": {
                        "roll": -3.0509418138535693e-05,
                        "pitch": -0.2750585377216339,
                        "yaw": 99.14402770996094
                    }
                },
                "velocity": {
                    "x": -0.7024909853935242,
                    "y": 4.364198684692383,
                    "z": 0.0042838952504098415
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.7880859375,
                        "y": 3430.233642578125,
                        "z": 370.4176940917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3710295259952545,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.896868705749512,
                "transform": {
                    "location": {
                        "x": 947.6982421875,
                        "y": 3479.875,
                        "z": 370.66424560546875
                    },
                    "rotation": {
                        "roll": -0.0011596762342378497,
                        "pitch": 0.25652140378952026,
                        "yaw": 99.1524658203125
                    }
                },
                "velocity": {
                    "x": -1.890838384628296,
                    "y": 11.74554443359375,
                    "z": 0.04900878667831421
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.380826950073242,
                "transform": {
                    "location": {
                        "x": 944.4336547851562,
                        "y": 3500.150634765625,
                        "z": 370.74371337890625
                    },
                    "rotation": {
                        "roll": 0.0012362891575321555,
                        "pitch": 0.1636718213558197,
                        "yaw": 99.14112091064453
                    }
                },
                "velocity": {
                    "x": -1.9669402837753296,
                    "y": 12.223516464233398,
                    "z": 0.040746573358774185
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.907963752746582,
                "transform": {
                    "location": {
                        "x": 940.1321411132812,
                        "y": 3526.897216796875,
                        "z": 370.8147277832031
                    },
                    "rotation": {
                        "roll": -0.0007019040058366954,
                        "pitch": 0.01395407598465681,
                        "yaw": 99.15837860107422
                    }
                },
                "velocity": {
                    "x": -1.4168118238449097,
                    "y": 8.794541358947754,
                    "z": 0.022464923560619354
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5597918033599854,
        "expert_target_speed": 1.5620494029993326,
        "target_point": [
            19.7163912766223,
            0.6115077143531584
        ],
        "target_point_next": [
            45.97646524644609,
            0.6590501828185262
        ]
    },
    "500": {
        "acceleration": [
            -0.5341160297393799,
            3.2265877723693848,
            0.016637038439512253
        ],
        "angular_velocity": [
            0.8567997813224792,
            0.17310592532157898,
            -0.008818414062261581
        ],
        "forward_vector": [
            -0.15714013576507568,
            0.9875594973564148,
            0.0057602799497544765
        ],
        "right_vector": [
            -0.9875758290290833,
            -0.15714305639266968,
            5.379505091696046e-05
        ],
        "location": [
            937.9121704101562,
            3524.477783203125,
            370.8056640625
        ],
        "rotation": [
            -0.0030822805128991604,
            0.3300415575504303,
            99.04109191894531
        ],
        "velocity": [
            -0.20044900476932526,
            1.2374694347381592,
            0.0028775024693459272
        ],
        "speed": 1.253598981103683,
        "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": 19.37409019470215,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                934.1692504882812,
                3543.48681640625,
                370.8564758300781
            ],
            "velocity": [
                -1.2285077571868896,
                7.643579483032227,
                0.012930182740092278
            ],
            "speed_kmh": 27.870070457936187,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.593686580657959,
                "transform": {
                    "location": {
                        "x": 937.3836669921875,
                        "y": 3565.29150390625,
                        "z": 370.8787536621094
                    },
                    "rotation": {
                        "roll": -0.0022277827374637127,
                        "pitch": 0.044915322214365005,
                        "yaw": -80.35173034667969
                    }
                },
                "velocity": {
                    "x": 0.9372215270996094,
                    "y": -5.514608860015869,
                    "z": -0.005816516932100058
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.080521583557129,
                "transform": {
                    "location": {
                        "x": 948.2723999023438,
                        "y": 3518.47607421875,
                        "z": 370.7945861816406
                    },
                    "rotation": {
                        "roll": 0.0004672693321481347,
                        "pitch": -0.15423932671546936,
                        "yaw": -80.87284088134766
                    }
                },
                "velocity": {
                    "x": 1.2834850549697876,
                    "y": -7.977908611297607,
                    "z": -0.021628856658935547
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.0641450881958,
                "transform": {
                    "location": {
                        "x": 955.0659790039062,
                        "y": 3476.262451171875,
                        "z": 370.6494140625
                    },
                    "rotation": {
                        "roll": 0.00044884870294481516,
                        "pitch": -0.2390156239271164,
                        "yaw": -80.8652572631836
                    }
                },
                "velocity": {
                    "x": 1.2801899909973145,
                    "y": -7.9618120193481445,
                    "z": -0.033268917351961136
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.09943962097168,
                "transform": {
                    "location": {
                        "x": 952.2738647460938,
                        "y": 3473.14794921875,
                        "z": 370.6277160644531
                    },
                    "rotation": {
                        "roll": -0.0017090040491893888,
                        "pitch": -0.2492062747478485,
                        "yaw": -80.66812896728516
                    }
                },
                "velocity": {
                    "x": 1.290022850036621,
                    "y": -7.99597692489624,
                    "z": -0.033470518887043
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.146660327911377,
                "transform": {
                    "location": {
                        "x": 940.2023315429688,
                        "y": 3568.107421875,
                        "z": 370.87298583984375
                    },
                    "rotation": {
                        "roll": 0.0005780010251328349,
                        "pitch": 0.5107410550117493,
                        "yaw": -80.46980285644531
                    }
                },
                "velocity": {
                    "x": 0.6930575966835022,
                    "y": -4.088332653045654,
                    "z": -0.00041321752360090613
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.9877319335938,
                        "y": 3447.63427734375,
                        "z": 370.52069091796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.945226669311523,
                "transform": {
                    "location": {
                        "x": 950.57177734375,
                        "y": 3462.3076171875,
                        "z": 370.58990478515625
                    },
                    "rotation": {
                        "roll": 0.004245012998580933,
                        "pitch": 0.21640770137310028,
                        "yaw": 99.64833068847656
                    }
                },
                "velocity": {
                    "x": -1.663891077041626,
                    "y": 9.804950714111328,
                    "z": 0.04403851553797722
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.020633697509766,
                "transform": {
                    "location": {
                        "x": 945.4380493164062,
                        "y": 3515.6328125,
                        "z": 370.7730407714844
                    },
                    "rotation": {
                        "roll": 0.0006485569174401462,
                        "pitch": -0.15789347887039185,
                        "yaw": -80.85893249511719
                    }
                },
                "velocity": {
                    "x": 1.274167537689209,
                    "y": -7.918747901916504,
                    "z": -0.02217511087656021
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.7416863441467285,
                "transform": {
                    "location": {
                        "x": 934.1692504882812,
                        "y": 3543.48681640625,
                        "z": 370.8564758300781
                    },
                    "rotation": {
                        "roll": -0.0007629385800100863,
                        "pitch": 0.040229812264442444,
                        "yaw": 99.13038635253906
                    }
                },
                "velocity": {
                    "x": -1.2285077571868896,
                    "y": 7.643579483032227,
                    "z": 0.012930182740092278
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.123929023742676,
                "transform": {
                    "location": {
                        "x": 931.587158203125,
                        "y": 3559.525634765625,
                        "z": 370.868896484375
                    },
                    "rotation": {
                        "roll": 0.0005502328276634216,
                        "pitch": 0.17096646130084991,
                        "yaw": 99.14250183105469
                    }
                },
                "velocity": {
                    "x": -0.8136848211288452,
                    "y": 5.058905124664307,
                    "z": 0.006506843492388725
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.4119262695312,
                        "y": 3432.569580078125,
                        "z": 370.4326171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.69174861907959,
                "transform": {
                    "location": {
                        "x": 947.2223510742188,
                        "y": 3482.833251953125,
                        "z": 370.6760559082031
                    },
                    "rotation": {
                        "roll": -0.00033568203798495233,
                        "pitch": 0.21032200753688812,
                        "yaw": 99.12771606445312
                    }
                },
                "velocity": {
                    "x": -1.8557817935943604,
                    "y": 11.543435096740723,
                    "z": 0.04662749171257019
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.127799987792969,
                "transform": {
                    "location": {
                        "x": 943.9696655273438,
                        "y": 3503.03369140625,
                        "z": 370.7519836425781
                    },
                    "rotation": {
                        "roll": -3.052276952075772e-05,
                        "pitch": 0.28020167350769043,
                        "yaw": 99.14060974121094
                    }
                },
                "velocity": {
                    "x": -1.7677810192108154,
                    "y": 10.98643684387207,
                    "z": 0.03308125585317612
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.811141490936279,
                "transform": {
                    "location": {
                        "x": 939.8040161132812,
                        "y": 3528.936279296875,
                        "z": 370.81976318359375
                    },
                    "rotation": {
                        "roll": -0.0014648429350927472,
                        "pitch": -0.019042566418647766,
                        "yaw": 99.12928771972656
                    }
                },
                "velocity": {
                    "x": -1.2416307926177979,
                    "y": 7.711799144744873,
                    "z": 0.020898303017020226
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5700230598449707,
        "expert_target_speed": 2.3627990084614416,
        "target_point": [
            19.499247157044447,
            0.6099749472787321
        ],
        "target_point_next": [
            45.75932303224987,
            0.656453064486433
        ]
    },
    "505": {
        "acceleration": [
            -0.8764070272445679,
            4.8505449295043945,
            0.013851546682417393
        ],
        "angular_velocity": [
            0.6548746824264526,
            0.12534162402153015,
            1.1073033809661865
        ],
        "forward_vector": [
            -0.15851348638534546,
            0.9873233437538147,
            0.008128076791763306
        ],
        "right_vector": [
            -0.9873557090759277,
            -0.15852008759975433,
            0.00017150210624095052
        ],
        "location": [
            937.8441162109375,
            3524.894287109375,
            370.8061218261719
        ],
        "rotation": [
            -0.009826671332120895,
            0.4657095968723297,
            99.12092590332031
        ],
        "velocity": [
            -0.3519284427165985,
            2.1145246028900146,
            0.003881387645378709
        ],
        "speed": 2.1436109546790676,
        "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": 20.75092124938965,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                933.883544921875,
                3545.263671875,
                370.8584289550781
            ],
            "velocity": [
                -1.0666126012802124,
                6.632501602172852,
                0.010414580814540386
            ],
            "speed_kmh": 24.18381515314679,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.910919189453125,
                "transform": {
                    "location": {
                        "x": 937.6677856445312,
                        "y": 3563.620849609375,
                        "z": 370.87713623046875
                    },
                    "rotation": {
                        "roll": -0.0018615503795444965,
                        "pitch": 0.32814958691596985,
                        "yaw": -80.34436798095703
                    }
                },
                "velocity": {
                    "x": 1.3267370462417603,
                    "y": -7.798870086669922,
                    "z": -0.0058627985417842865
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.075705528259277,
                "transform": {
                    "location": {
                        "x": 948.593017578125,
                        "y": 3516.482421875,
                        "z": 370.7890930175781
                    },
                    "rotation": {
                        "roll": 6.67013155819518e-09,
                        "pitch": -0.15786615014076233,
                        "yaw": -80.84825134277344
                    }
                },
                "velocity": {
                    "x": 1.2827115058898926,
                    "y": -7.973155498504639,
                    "z": -0.02149101160466671
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004997253417969,
                "transform": {
                    "location": {
                        "x": 955.3848266601562,
                        "y": 3474.279541015625,
                        "z": 370.6410827636719
                    },
                    "rotation": {
                        "roll": 0.0001152204058598727,
                        "pitch": -0.23733539879322052,
                        "yaw": -80.86548614501953
                    }
                },
                "velocity": {
                    "x": 1.2707922458648682,
                    "y": -7.903416156768799,
                    "z": -0.03296482190489769
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.4275898933410645,
                "transform": {
                    "location": {
                        "x": 952.5916137695312,
                        "y": 3471.17919921875,
                        "z": 370.6195983886719
                    },
                    "rotation": {
                        "roll": -0.0009765798458829522,
                        "pitch": -0.2541240155696869,
                        "yaw": -80.64775085449219
                    }
                },
                "velocity": {
                    "x": 1.1835922002792358,
                    "y": -7.33261251449585,
                    "z": -0.03153334558010101
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.445429801940918,
                "transform": {
                    "location": {
                        "x": 940.404052734375,
                        "y": 3566.91748046875,
                        "z": 370.8724670410156
                    },
                    "rotation": {
                        "roll": -0.0019531201105564833,
                        "pitch": 0.5389975309371948,
                        "yaw": -80.41790008544922
                    }
                },
                "velocity": {
                    "x": 0.9115495681762695,
                    "y": -5.368591785430908,
                    "z": -0.00237663253210485
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.6011352539062,
                        "y": 3450.0361328125,
                        "z": 370.5334167480469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052099227905273,
                "transform": {
                    "location": {
                        "x": 950.2168579101562,
                        "y": 3464.412841796875,
                        "z": 370.5989685058594
                    },
                    "rotation": {
                        "roll": 0.00787353701889515,
                        "pitch": 0.030086981132626534,
                        "yaw": 99.54476928710938
                    }
                },
                "velocity": {
                    "x": -1.3336029052734375,
                    "y": 7.940818786621094,
                    "z": 0.03458186239004135
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074982643127441,
                "transform": {
                    "location": {
                        "x": 945.7576904296875,
                        "y": 3513.646240234375,
                        "z": 370.76751708984375
                    },
                    "rotation": {
                        "roll": -0.00027466268511489034,
                        "pitch": -0.15673917531967163,
                        "yaw": -80.85911560058594
                    }
                },
                "velocity": {
                    "x": 1.282823920249939,
                    "y": -7.972406387329102,
                    "z": -0.02078111656010151
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.717726230621338,
                "transform": {
                    "location": {
                        "x": 933.883544921875,
                        "y": 3545.263671875,
                        "z": 370.8584289550781
                    },
                    "rotation": {
                        "roll": -0.00012207012332510203,
                        "pitch": 0.16455291211605072,
                        "yaw": 99.13325500488281
                    }
                },
                "velocity": {
                    "x": -1.0666126012802124,
                    "y": 6.632501602172852,
                    "z": 0.010414580814540386
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.805359363555908,
                "transform": {
                    "location": {
                        "x": 931.3936767578125,
                        "y": 3560.72802734375,
                        "z": 370.87042236328125
                    },
                    "rotation": {
                        "roll": -0.0006713871262036264,
                        "pitch": 0.016194377094507217,
                        "yaw": 99.17988586425781
                    }
                },
                "velocity": {
                    "x": -0.7643006443977356,
                    "y": 4.744187355041504,
                    "z": 0.003075904678553343
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.0255126953125,
                        "y": 3434.971435546875,
                        "z": 370.44781494140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3518025279045105,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.388806343078613,
                "transform": {
                    "location": {
                        "x": 946.781005859375,
                        "y": 3485.576904296875,
                        "z": 370.68682861328125
                    },
                    "rotation": {
                        "roll": 0.0005874532507732511,
                        "pitch": 0.05934068188071251,
                        "yaw": 99.1353759765625
                    }
                },
                "velocity": {
                    "x": -1.65070641040802,
                    "y": 10.256745338439941,
                    "z": 0.04038725793361664
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.306477546691895,
                "transform": {
                    "location": {
                        "x": 943.5283203125,
                        "y": 3505.77734375,
                        "z": 370.7610778808594
                    },
                    "rotation": {
                        "roll": -0.00042724210652522743,
                        "pitch": 0.16675223410129547,
                        "yaw": 99.13642883300781
                    }
                },
                "velocity": {
                    "x": -1.7951568365097046,
                    "y": 11.163007736206055,
                    "z": 0.03318929672241211
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.002278327941895,
                "transform": {
                    "location": {
                        "x": 939.4939575195312,
                        "y": 3530.86181640625,
                        "z": 370.8248596191406
                    },
                    "rotation": {
                        "roll": -0.0001525924017187208,
                        "pitch": 0.1270483434200287,
                        "yaw": 99.1640625
                    }
                },
                "velocity": {
                    "x": -1.2719104290008545,
                    "y": 7.9005255699157715,
                    "z": 0.0197320356965065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.572173535823822,
        "expert_target_speed": 3.2530943075425194,
        "target_point": [
            19.07805235752428,
            0.581644769790032
        ],
        "target_point_next": [
            45.338167496990444,
            0.5915467344929377
        ]
    },
    "510": {
        "acceleration": [
            -1.3035118579864502,
            6.609125137329102,
            0.015947353094816208
        ],
        "angular_velocity": [
            0.8908283710479736,
            0.2568790018558502,
            1.9427417516708374
        ],
        "forward_vector": [
            -0.16423626244068146,
            0.9863501787185669,
            0.011825880967080593
        ],
        "right_vector": [
            -0.9864171147346497,
            -0.16425774991512299,
            0.0008628041832707822
        ],
        "location": [
            937.720703125,
            3525.60205078125,
            370.8070983886719
        ],
        "rotation": [
            -0.04943849891424179,
            0.6775888800621033,
            99.45353698730469
        ],
        "velocity": [
            -0.6461895704269409,
            3.5768840312957764,
            0.008909902535378933
        ],
        "speed": 3.634784771381557,
        "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": 21.269596099853516,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                933.68701171875,
                3546.485595703125,
                370.85833740234375
            ],
            "velocity": [
                -0.5526349544525146,
                3.404867172241211,
                0.0033252143766731024
            ],
            "speed_kmh": 12.417932129005562,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.234943389892578,
                "transform": {
                    "location": {
                        "x": 938.0270385742188,
                        "y": 3561.48046875,
                        "z": 370.8752136230469
                    },
                    "rotation": {
                        "roll": 0.014646297320723534,
                        "pitch": 0.25537392497062683,
                        "yaw": -80.49678802490234
                    }
                },
                "velocity": {
                    "x": 1.5161112546920776,
                    "y": -9.109640121459961,
                    "z": -0.00691362377256155
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.074073791503906,
                "transform": {
                    "location": {
                        "x": 948.9137573242188,
                        "y": 3514.4892578125,
                        "z": 370.7835998535156
                    },
                    "rotation": {
                        "roll": 0.0007992351893335581,
                        "pitch": -0.1592048704624176,
                        "yaw": -80.87822723388672
                    }
                },
                "velocity": {
                    "x": 1.2808496952056885,
                    "y": -7.9718017578125,
                    "z": -0.021570120006799698
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065126419067383,
                "transform": {
                    "location": {
                        "x": 955.7039794921875,
                        "y": 3472.29638671875,
                        "z": 370.6327209472656
                    },
                    "rotation": {
                        "roll": -3.052266765735112e-05,
                        "pitch": -0.23751981556415558,
                        "yaw": -80.85912322998047
                    }
                },
                "velocity": {
                    "x": 1.2829147577285767,
                    "y": -7.96236515045166,
                    "z": -0.03361806645989418
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.774914741516113,
                "transform": {
                    "location": {
                        "x": 952.8676147460938,
                        "y": 3469.473876953125,
                        "z": 370.6125793457031
                    },
                    "rotation": {
                        "roll": -0.000976567273028195,
                        "pitch": -0.2633993923664093,
                        "yaw": -80.74424743652344
                    }
                },
                "velocity": {
                    "x": 1.078633427619934,
                    "y": -6.6884379386901855,
                    "z": -0.028609417378902435
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.688473224639893,
                "transform": {
                    "location": {
                        "x": 940.634033203125,
                        "y": 3565.5625,
                        "z": 370.8724060058594
                    },
                    "rotation": {
                        "roll": -0.003478997852653265,
                        "pitch": 0.24022457003593445,
                        "yaw": -80.35054016113281
                    }
                },
                "velocity": {
                    "x": 0.9528055191040039,
                    "y": -5.6081061363220215,
                    "z": -0.006294183433055878
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.3363037109375,
                        "y": 3451.68115234375,
                        "z": 370.5416259765625
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.132147789001465,
                "transform": {
                    "location": {
                        "x": 949.8854370117188,
                        "y": 3466.412109375,
                        "z": 370.6077575683594
                    },
                    "rotation": {
                        "roll": 0.011037128046154976,
                        "pitch": 0.19384758174419403,
                        "yaw": 99.39031219482422
                    }
                },
                "velocity": {
                    "x": -1.3227287530899048,
                    "y": 8.023783683776855,
                    "z": 0.03342443332076073
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023236274719238,
                "transform": {
                    "location": {
                        "x": 946.077392578125,
                        "y": 3511.65966796875,
                        "z": 370.76202392578125
                    },
                    "rotation": {
                        "roll": 0.0004791889223270118,
                        "pitch": -0.15887701511383057,
                        "yaw": -80.85918426513672
                    }
                },
                "velocity": {
                    "x": 1.2745932340621948,
                    "y": -7.9213151931762695,
                    "z": -0.022389044985175133
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.44942569732666,
                "transform": {
                    "location": {
                        "x": 933.68701171875,
                        "y": 3546.485595703125,
                        "z": 370.85833740234375
                    },
                    "rotation": {
                        "roll": 0.0017194587271660566,
                        "pitch": 0.38452595472335815,
                        "yaw": 99.30075073242188
                    }
                },
                "velocity": {
                    "x": -0.5526349544525146,
                    "y": 3.404867172241211,
                    "z": 0.0033252143766731024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.003094673156738,
                "transform": {
                    "location": {
                        "x": 931.1990356445312,
                        "y": 3561.935546875,
                        "z": 370.87115478515625
                    },
                    "rotation": {
                        "roll": 0.0002573062665760517,
                        "pitch": 0.08210569620132446,
                        "yaw": 99.16329956054688
                    }
                },
                "velocity": {
                    "x": -0.7955564856529236,
                    "y": 4.9394354820251465,
                    "z": 0.004628963302820921
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.62841796875,
                        "y": 3437.43896484375,
                        "z": 370.4627380371094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.14175033569336,
                "transform": {
                    "location": {
                        "x": 946.3806762695312,
                        "y": 3488.067626953125,
                        "z": 370.6965637207031
                    },
                    "rotation": {
                        "roll": 0.00015119172167032957,
                        "pitch": 0.13460253179073334,
                        "yaw": 99.12094116210938
                    }
                },
                "velocity": {
                    "x": -1.6095937490463257,
                    "y": 10.01313591003418,
                    "z": 0.03751908242702484
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.072638511657715,
                "transform": {
                    "location": {
                        "x": 943.0641479492188,
                        "y": 3508.664306640625,
                        "z": 370.7701110839844
                    },
                    "rotation": {
                        "roll": -0.00015258559142239392,
                        "pitch": 0.10015788674354553,
                        "yaw": 99.13593292236328
                    }
                },
                "velocity": {
                    "x": -1.9168566465377808,
                    "y": 11.919443130493164,
                    "z": 0.03368020057678223
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.182143211364746,
                "transform": {
                    "location": {
                        "x": 939.1686401367188,
                        "y": 3532.882080078125,
                        "z": 370.82965087890625
                    },
                    "rotation": {
                        "roll": 5.381457958719693e-05,
                        "pitch": 0.14193132519721985,
                        "yaw": 99.13314056396484
                    }
                },
                "velocity": {
                    "x": -1.299997329711914,
                    "y": 8.078192710876465,
                    "z": 0.0168896671384573
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5202592015266418,
        "expert_target_speed": 4.683555683539098,
        "target_point": [
            18.362685856453812,
            0.4653808555052934
        ],
        "target_point_next": [
            44.622415882571545,
            0.3228180892029444
        ]
    },
    "515": {
        "acceleration": [
            -1.3194036483764648,
            5.840110778808594,
            0.12303905189037323
        ],
        "angular_velocity": [
            0.18993529677391052,
            0.20795530080795288,
            2.7208566665649414
        ],
        "forward_vector": [
            -0.17443199455738068,
            0.984572172164917,
            0.013829505071043968
        ],
        "right_vector": [
            -0.9846624732017517,
            -0.17446570098400116,
            0.001260619144886732
        ],
        "location": [
            937.520263671875,
            3526.69140625,
            370.8095703125
        ],
        "rotation": [
            -0.07223507761955261,
            0.7923974990844727,
            100.04657745361328
        ],
        "velocity": [
            -0.9615246653556824,
            5.053046226501465,
            0.0169206615537405
        ],
        "speed": 5.1437151796389395,
        "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": 21.087507247924805,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                933.5392456054688,
                3547.399658203125,
                370.8621520996094
            ],
            "velocity": [
                -0.6581565141677856,
                4.087359428405762,
                0.005857706069946289
            ],
            "speed_kmh": 14.904048437677535,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.19581127166748,
                "transform": {
                    "location": {
                        "x": 938.4182739257812,
                        "y": 3559.119873046875,
                        "z": 370.872802734375
                    },
                    "rotation": {
                        "roll": 0.00949483085423708,
                        "pitch": 0.16829584538936615,
                        "yaw": -80.60490417480469
                    }
                },
                "velocity": {
                    "x": 1.6625503301620483,
                    "y": -10.059343338012695,
                    "z": -0.00963964406400919
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.07662582397461,
                "transform": {
                    "location": {
                        "x": 949.2340698242188,
                        "y": 3512.495849609375,
                        "z": 370.7779541015625
                    },
                    "rotation": {
                        "roll": -0.0006103437626734376,
                        "pitch": -0.1585969775915146,
                        "yaw": -80.85145568847656
                    }
                },
                "velocity": {
                    "x": 1.2834221124649048,
                    "y": -7.973972797393799,
                    "z": -0.021547164767980576
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004520416259766,
                "transform": {
                    "location": {
                        "x": 956.0230102539062,
                        "y": 3470.313720703125,
                        "z": 370.6243591308594
                    },
                    "rotation": {
                        "roll": -0.0012512424727901816,
                        "pitch": -0.2360171675682068,
                        "yaw": -80.85893249511719
                    }
                },
                "velocity": {
                    "x": 1.272962212562561,
                    "y": -7.902581691741943,
                    "z": -0.033373285084962845
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.42224645614624,
                "transform": {
                    "location": {
                        "x": 953.1486206054688,
                        "y": 3467.7353515625,
                        "z": 370.60479736328125
                    },
                    "rotation": {
                        "roll": 0.0003527912776917219,
                        "pitch": -0.22399604320526123,
                        "yaw": -80.84309387207031
                    }
                },
                "velocity": {
                    "x": 1.1791090965270996,
                    "y": -7.327929496765137,
                    "z": -0.029886417090892792
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.49573278427124,
                "transform": {
                    "location": {
                        "x": 940.9194946289062,
                        "y": 3563.88525390625,
                        "z": 370.86968994140625
                    },
                    "rotation": {
                        "roll": -0.002197282388806343,
                        "pitch": 0.5356916785240173,
                        "yaw": -80.34516143798828
                    }
                },
                "velocity": {
                    "x": 1.2577917575836182,
                    "y": -7.389448165893555,
                    "z": -0.005495776887983084
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.9392700195312,
                        "y": 3454.14892578125,
                        "z": 370.5540466308594
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.334232330322266,
                "transform": {
                    "location": {
                        "x": 949.5028686523438,
                        "y": 3468.7431640625,
                        "z": 370.617919921875
                    },
                    "rotation": {
                        "roll": 0.005943183787167072,
                        "pitch": 0.4692612886428833,
                        "yaw": 99.31224060058594
                    }
                },
                "velocity": {
                    "x": -1.6703611612319946,
                    "y": 10.198260307312012,
                    "z": 0.04168621078133583
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07391357421875,
                "transform": {
                    "location": {
                        "x": 946.3970336914062,
                        "y": 3509.6728515625,
                        "z": 370.7563171386719
                    },
                    "rotation": {
                        "roll": -0.00018309518054593354,
                        "pitch": -0.16659513115882874,
                        "yaw": -80.8591079711914
                    }
                },
                "velocity": {
                    "x": 1.2826406955718994,
                    "y": -7.971349239349365,
                    "z": -0.022493695840239525
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.140013217926025,
                "transform": {
                    "location": {
                        "x": 933.5392456054688,
                        "y": 3547.399658203125,
                        "z": 370.8621520996094
                    },
                    "rotation": {
                        "roll": -0.0013427712256088853,
                        "pitch": 0.10329977422952652,
                        "yaw": 99.24600982666016
                    }
                },
                "velocity": {
                    "x": -0.6581565141677856,
                    "y": 4.087359428405762,
                    "z": 0.005857706069946289
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.89244270324707,
                "transform": {
                    "location": {
                        "x": 930.9995727539062,
                        "y": 3563.157470703125,
                        "z": 370.8725280761719
                    },
                    "rotation": {
                        "roll": -0.0287780798971653,
                        "pitch": 0.05098053067922592,
                        "yaw": 99.25569915771484
                    }
                },
                "velocity": {
                    "x": -0.8086259365081787,
                    "y": 4.825153827667236,
                    "z": 0.0031533432193100452
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.3636474609375,
                        "y": 3439.084228515625,
                        "z": 370.47271728515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.898062705993652,
                "transform": {
                    "location": {
                        "x": 945.9602661132812,
                        "y": 3490.67919921875,
                        "z": 370.7063293457031
                    },
                    "rotation": {
                        "roll": -0.0009155368898063898,
                        "pitch": 0.28649911284446716,
                        "yaw": 99.15704345703125
                    }
                },
                "velocity": {
                    "x": -1.7334591150283813,
                    "y": 10.759247779846191,
                    "z": 0.0383584201335907
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.857123374938965,
                "transform": {
                    "location": {
                        "x": 942.5802001953125,
                        "y": 3511.67333984375,
                        "z": 370.7781066894531
                    },
                    "rotation": {
                        "roll": -0.00057983462465927,
                        "pitch": 0.16052992641925812,
                        "yaw": 99.135986328125
                    }
                },
                "velocity": {
                    "x": -1.8826229572296143,
                    "y": 11.706665992736816,
                    "z": 0.03282996267080307
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.946821212768555,
                "transform": {
                    "location": {
                        "x": 938.8494262695312,
                        "y": 3534.864501953125,
                        "z": 370.8337707519531
                    },
                    "rotation": {
                        "roll": -0.0005188016220927238,
                        "pitch": 0.09394924342632294,
                        "yaw": 99.16465759277344
                    }
                },
                "velocity": {
                    "x": -1.2631417512893677,
                    "y": 7.845771312713623,
                    "z": 0.017769774422049522
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.4766013026237488,
        "expert_target_speed": 6.079307931871728,
        "target_point": [
            17.258901022932893,
            0.2679721699252995
        ],
        "target_point_next": [
            43.51574896515068,
            -0.1463722836136805
        ]
    },
    "520": {
        "acceleration": [
            0.07112741470336914,
            -0.4786968231201172,
            0.0073549337685108185
        ],
        "angular_velocity": [
            -1.5156406164169312,
            -0.4938417971134186,
            1.9212576150894165
        ],
        "forward_vector": [
            -0.18527577817440033,
            0.9826451539993286,
            0.009023900143802166
        ],
        "right_vector": [
            -0.9826828837394714,
            -0.1852923184633255,
            0.0010274054948240519
        ],
        "location": [
            937.2640991210938,
            3528.023681640625,
            370.8141784667969
        ],
        "rotation": [
            -0.0588684044778347,
            0.5170384645462036,
            100.67765045166016
        ],
        "velocity": [
            -1.049856185913086,
            5.35099983215332,
            0.013927297666668892
        ],
        "speed": 5.453017257886209,
        "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": 20.87036895751953,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                933.3577270507812,
                3548.525146484375,
                370.86444091796875
            ],
            "velocity": [
                -0.723227322101593,
                4.495969295501709,
                0.006227674428373575
            ],
            "speed_kmh": 16.393578022657678,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.537628173828125,
                "transform": {
                    "location": {
                        "x": 938.8622436523438,
                        "y": 3556.419189453125,
                        "z": 370.8697814941406
                    },
                    "rotation": {
                        "roll": 0.013354974798858166,
                        "pitch": 0.20795193314552307,
                        "yaw": -80.69511413574219
                    }
                },
                "velocity": {
                    "x": 1.861234188079834,
                    "y": -11.386505126953125,
                    "z": -0.01339532807469368
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076735496520996,
                "transform": {
                    "location": {
                        "x": 949.5549926757812,
                        "y": 3510.502685546875,
                        "z": 370.7722473144531
                    },
                    "rotation": {
                        "roll": 0.00033844925928860903,
                        "pitch": -0.16552962362766266,
                        "yaw": -80.8754653930664
                    }
                },
                "velocity": {
                    "x": 1.2826406955718994,
                    "y": -7.974210262298584,
                    "z": -0.021523823961615562
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064434051513672,
                "transform": {
                    "location": {
                        "x": 956.3421630859375,
                        "y": 3468.33056640625,
                        "z": 370.6160888671875
                    },
                    "rotation": {
                        "roll": -0.0011596748372539878,
                        "pitch": -0.2386741191148758,
                        "yaw": -80.85783386230469
                    }
                },
                "velocity": {
                    "x": 1.2812385559082031,
                    "y": -7.961933612823486,
                    "z": -0.03368473798036575
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.351275444030762,
                "transform": {
                    "location": {
                        "x": 953.4579467773438,
                        "y": 3465.81201171875,
                        "z": 370.5967102050781
                    },
                    "rotation": {
                        "roll": 0.0004801776085514575,
                        "pitch": -0.2135321944952011,
                        "yaw": -80.84028625488281
                    }
                },
                "velocity": {
                    "x": 1.3262954950332642,
                    "y": -8.245209693908691,
                    "z": -0.03553520143032074
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.240679740905762,
                "transform": {
                    "location": {
                        "x": 941.25146484375,
                        "y": 3561.900146484375,
                        "z": 370.8682861328125
                    },
                    "rotation": {
                        "roll": 0.024193525314331055,
                        "pitch": 0.41573992371559143,
                        "yaw": -80.51097869873047
                    }
                },
                "velocity": {
                    "x": 1.3500738143920898,
                    "y": -8.12933349609375,
                    "z": -0.006085042841732502
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.5526123046875,
                        "y": 3456.550537109375,
                        "z": 370.5654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.928695678710938,
                "transform": {
                    "location": {
                        "x": 949.0704956054688,
                        "y": 3471.39404296875,
                        "z": 370.6289367675781
                    },
                    "rotation": {
                        "roll": 0.0076745967380702496,
                        "pitch": 0.36938345432281494,
                        "yaw": 99.23966979980469
                    }
                },
                "velocity": {
                    "x": -1.7532421350479126,
                    "y": 10.787053108215332,
                    "z": 0.04489357769489288
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023815155029297,
                "transform": {
                    "location": {
                        "x": 946.7166748046875,
                        "y": 3507.686279296875,
                        "z": 370.7504577636719
                    },
                    "rotation": {
                        "roll": 0.001248342334292829,
                        "pitch": -0.16790653765201569,
                        "yaw": -80.85905456542969
                    }
                },
                "velocity": {
                    "x": 1.2745356559753418,
                    "y": -7.9219069480896,
                    "z": -0.023775067180395126
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.553771495819092,
                "transform": {
                    "location": {
                        "x": 933.3577270507812,
                        "y": 3548.525146484375,
                        "z": 370.86444091796875
                    },
                    "rotation": {
                        "roll": -0.0005493134376592934,
                        "pitch": 0.04172562435269356,
                        "yaw": 99.20238494873047
                    }
                },
                "velocity": {
                    "x": -0.723227322101593,
                    "y": 4.495969295501709,
                    "z": 0.006227674428373575
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.555310010910034,
                "transform": {
                    "location": {
                        "x": 930.8232421875,
                        "y": 3564.209716796875,
                        "z": 370.8746337890625
                    },
                    "rotation": {
                        "roll": -0.014404318295419216,
                        "pitch": -0.2782277464866638,
                        "yaw": 99.41075134277344
                    }
                },
                "velocity": {
                    "x": -0.5920807123184204,
                    "y": 3.505661964416504,
                    "z": 0.001925191842019558
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.9769287109375,
                        "y": 3441.48583984375,
                        "z": 370.4866027832031
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.512323379516602,
                "transform": {
                    "location": {
                        "x": 945.5125732421875,
                        "y": 3493.459228515625,
                        "z": 370.7164001464844
                    },
                    "rotation": {
                        "roll": -0.0006713827606290579,
                        "pitch": 0.3109033703804016,
                        "yaw": 99.14744567871094
                    }
                },
                "velocity": {
                    "x": -1.8311678171157837,
                    "y": 11.365680694580078,
                    "z": 0.041350506246089935
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.505531311035156,
                "transform": {
                    "location": {
                        "x": 942.1385498046875,
                        "y": 3514.41796875,
                        "z": 370.7848815917969
                    },
                    "rotation": {
                        "roll": -0.0003051874809898436,
                        "pitch": 0.27180737257003784,
                        "yaw": 99.1419677734375
                    }
                },
                "velocity": {
                    "x": -1.6691720485687256,
                    "y": 10.372040748596191,
                    "z": 0.028708133846521378
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0836763381958,
                "transform": {
                    "location": {
                        "x": 938.5310668945312,
                        "y": 3536.841064453125,
                        "z": 370.837890625
                    },
                    "rotation": {
                        "roll": 0.0007086538826115429,
                        "pitch": 0.1289198100566864,
                        "yaw": 99.136474609375
                    }
                },
                "velocity": {
                    "x": -1.2859774827957153,
                    "y": 7.980713367462158,
                    "z": 0.01731930673122406
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.426268607378006,
        "expert_target_speed": 6.354490863991586,
        "target_point": [
            15.90413534411311,
            0.07298953043618983
        ],
        "target_point_next": [
            42.1548272302346,
            -0.6305164658708504
        ]
    },
    "525": {
        "acceleration": [
            -1.1904358863830566,
            5.8739471435546875,
            0.01418914645910263
        ],
        "angular_velocity": [
            0.21971160173416138,
            -0.029958058148622513,
            0.927433431148529
        ],
        "forward_vector": [
            -0.19137001037597656,
            0.9814246892929077,
            0.013530436903238297
        ],
        "right_vector": [
            -0.9815127849578857,
            -0.1913958042860031,
            0.0006247200071811676
        ],
        "location": [
            936.9415283203125,
            3529.66748046875,
            370.8173828125
        ],
        "rotation": [
            -0.03579710051417351,
            0.7752605676651001,
            101.03376770019531
        ],
        "velocity": [
            -1.4481452703475952,
            7.327438831329346,
            0.018379801884293556
        ],
        "speed": 7.469168933081061,
        "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": 20.17439079284668,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                933.201904296875,
                3549.4921875,
                370.86456298828125
            ],
            "velocity": [
                -0.528168797492981,
                3.280095100402832,
                0.00510796532034874
            ],
            "speed_kmh": 11.960461471023374,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.4028930664062,
                        "y": 3628.87939453125,
                        "z": 370.8935852050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 880.072265625,
                        "y": 3572.15966796875,
                        "z": 371.509765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33858612179756165,
                        "yaw": 9.140240669250488
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.1942138671875,
                        "y": 3628.363037109375,
                        "z": 370.8936767578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 986.2354736328125,
                        "y": 3586.5380859375,
                        "z": 370.3387756347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.746519148349762,
                        "yaw": -170.74758911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.7442626953125,
                        "y": 3441.120849609375,
                        "z": 370.8089294433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 925.4776611328125,
                        "y": 3618.57421875,
                        "z": 371.0699462890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0942993164062,
                        "y": 3633.3837890625,
                        "z": 371.0599060058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 922.2689819335938,
                        "y": 3618.05810546875,
                        "z": 371.0699462890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.8856201171875,
                        "y": 3632.8671875,
                        "z": 371.0599060058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.58598518371582,
                "transform": {
                    "location": {
                        "x": 939.3482666015625,
                        "y": 3553.4365234375,
                        "z": 370.8663330078125
                    },
                    "rotation": {
                        "roll": 0.009300936944782734,
                        "pitch": 0.16952528059482574,
                        "yaw": -80.76680755615234
                    }
                },
                "velocity": {
                    "x": 2.01963210105896,
                    "y": -12.422879219055176,
                    "z": -0.013571090064942837
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.075730323791504,
                "transform": {
                    "location": {
                        "x": 949.8753051757812,
                        "y": 3508.509521484375,
                        "z": 370.7664794921875
                    },
                    "rotation": {
                        "roll": 0.000609376875218004,
                        "pitch": -0.16915646195411682,
                        "yaw": -80.85021209716797
                    }
                },
                "velocity": {
                    "x": 1.283577561378479,
                    "y": -7.9730401039123535,
                    "z": -0.021869396790862083
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004287719726562,
                "transform": {
                    "location": {
                        "x": 956.6613159179688,
                        "y": 3466.34765625,
                        "z": 370.60772705078125
                    },
                    "rotation": {
                        "roll": -6.103199484641664e-05,
                        "pitch": -0.2369665652513504,
                        "yaw": -80.85807800292969
                    }
                },
                "velocity": {
                    "x": 1.2717546224594116,
                    "y": -7.902541160583496,
                    "z": -0.033211130648851395
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.565718650817871,
                "transform": {
                    "location": {
                        "x": 953.803955078125,
                        "y": 3463.659912109375,
                        "z": 370.58740234375
                    },
                    "rotation": {
                        "roll": 0.0003726353752426803,
                        "pitch": -0.23873558640480042,
                        "yaw": -80.84185791015625
                    }
                },
                "velocity": {
                    "x": 1.3591996431350708,
                    "y": -8.457111358642578,
                    "z": -0.037041839212179184
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.039536476135254,
                "transform": {
                    "location": {
                        "x": 941.6326293945312,
                        "y": 3559.59814453125,
                        "z": 370.8653869628906
                    },
                    "rotation": {
                        "roll": 0.019242992624640465,
                        "pitch": 0.5658264756202698,
                        "yaw": -80.63004302978516
                    }
                },
                "velocity": {
                    "x": 1.6346534490585327,
                    "y": -9.905559539794922,
                    "z": -0.009801244363188744
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.120361328125,
                        "y": 3459.23779296875,
                        "z": 370.5780334472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.766256332397461,
                "transform": {
                    "location": {
                        "x": 948.6309204101562,
                        "y": 3474.10400390625,
                        "z": 370.6401062011719
                    },
                    "rotation": {
                        "roll": 0.0036438736133277416,
                        "pitch": 0.2503332495689392,
                        "yaw": 99.20501708984375
                    }
                },
                "velocity": {
                    "x": -1.7230018377304077,
                    "y": 10.627397537231445,
                    "z": 0.04422089457511902
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074289321899414,
                "transform": {
                    "location": {
                        "x": 947.0364379882812,
                        "y": 3505.69921875,
                        "z": 370.7445983886719
                    },
                    "rotation": {
                        "roll": -0.00048828055150806904,
                        "pitch": -0.1667795479297638,
                        "yaw": -80.8561782836914
                    }
                },
                "velocity": {
                    "x": 1.2830573320388794,
                    "y": -7.971654891967773,
                    "z": -0.02500036731362343
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.322350263595581,
                "transform": {
                    "location": {
                        "x": 933.201904296875,
                        "y": 3549.4921875,
                        "z": 370.86456298828125
                    },
                    "rotation": {
                        "roll": 0.0005727179814130068,
                        "pitch": 0.17511920630931854,
                        "yaw": 99.18351745605469
                    }
                },
                "velocity": {
                    "x": -0.528168797492981,
                    "y": 3.280095100402832,
                    "z": 0.00510796532034874
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.224189043045044,
                "transform": {
                    "location": {
                        "x": 930.7055053710938,
                        "y": 3564.90771484375,
                        "z": 370.8759765625
                    },
                    "rotation": {
                        "roll": -0.003173822769895196,
                        "pitch": -0.46859875321388245,
                        "yaw": 99.48323059082031
                    }
                },
                "velocity": {
                    "x": -0.37138262391090393,
                    "y": 2.192963123321533,
                    "z": 0.0021429252810776234
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.5447998046875,
                        "y": 3444.1728515625,
                        "z": 370.501953125
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.33770751953125,
                "transform": {
                    "location": {
                        "x": 945.0781860351562,
                        "y": 3496.15576171875,
                        "z": 370.72552490234375
                    },
                    "rotation": {
                        "roll": 0.0002529306511860341,
                        "pitch": 0.07442173361778259,
                        "yaw": 99.15831756591797
                    }
                },
                "velocity": {
                    "x": -1.6438959836959839,
                    "y": 10.20610237121582,
                    "z": 0.035559721291065216
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.695055961608887,
                "transform": {
                    "location": {
                        "x": 941.74365234375,
                        "y": 3516.8720703125,
                        "z": 370.7919921875
                    },
                    "rotation": {
                        "roll": 0.0008659873274154961,
                        "pitch": 0.23740370571613312,
                        "yaw": 99.14199829101562
                    }
                },
                "velocity": {
                    "x": -1.5404398441314697,
                    "y": 9.571854591369629,
                    "z": 0.027342375367879868
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058093070983887,
                "transform": {
                    "location": {
                        "x": 938.2093505859375,
                        "y": 3538.837646484375,
                        "z": 370.8420104980469
                    },
                    "rotation": {
                        "roll": -3.0515800972352736e-05,
                        "pitch": 0.11855841428041458,
                        "yaw": 99.17082977294922
                    }
                },
                "velocity": {
                    "x": -1.281885027885437,
                    "y": 7.955461025238037,
                    "z": 0.01683793030679226
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2756589949131012,
        "expert_target_speed": 7.944535110109223,
        "target_point": [
            14.229133295312305,
            -0.027873397603555006
        ],
        "target_point_next": [
            40.474945236221664,
            -0.8945340863075959
        ]
    },
    "530": {
        "acceleration": [
            0.07777214050292969,
            -0.2910614013671875,
            -0.00032994896173477173
        ],
        "angular_velocity": [
            -1.80705988407135,
            -0.3829658031463623,
            -0.03685741499066353
        ],
        "forward_vector": [
            -0.1929035186767578,
            0.9811445474624634,
            0.01198418065905571
        ],
        "right_vector": [
            -0.9812147617340088,
            -0.1929185539484024,
            0.0001001274140435271
        ],
        "location": [
            936.5485229492188,
            3531.664306640625,
            370.8224792480469
        ],
        "rotation": [
            -0.0057372902520000935,
            0.6866593956947327,
            101.12309265136719
        ],
        "velocity": [
            -1.6235451698303223,
            8.259521484375,
            0.01812736503779888
        ],
        "speed": 8.417576496197203,
        "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": 18.900238037109375,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                933.080810546875,
                3550.24365234375,
                370.8659973144531
            ],
            "velocity": [
                -0.48325514793395996,
                3.008152723312378,
                0.004332065582275391
            ],
            "speed_kmh": 10.968212295808671,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.73388671875,
                        "y": 3626.822021484375,
                        "z": 370.8894348144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.5652666091918945,
                "transform": {
                    "location": {
                        "x": 882.082275390625,
                        "y": 3572.483642578125,
                        "z": 371.3006896972656
                    },
                    "rotation": {
                        "roll": 0.0001538592914585024,
                        "pitch": -0.3744787573814392,
                        "yaw": 9.148728370666504
                    }
                },
                "velocity": {
                    "x": 6.398852825164795,
                    "y": 1.041016936302185,
                    "z": -1.0361909866333008
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.5252075195312,
                        "y": 3626.3056640625,
                        "z": 370.8894958496094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 984.1793823242188,
                        "y": 3586.203125,
                        "z": 370.36041259765625
                    },
                    "rotation": {
                        "roll": 6.670620056326015e-09,
                        "pitch": 0.7109543681144714,
                        "yaw": -170.74758911132812
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.4149780273438,
                        "y": 3443.166259765625,
                        "z": 370.59381103515625
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 925.2791137695312,
                        "y": 3619.80615234375,
                        "z": 371.0162353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 922.1365356445312,
                        "y": 3618.8798828125,
                        "z": 371.0341796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.484583854675293,
                "transform": {
                    "location": {
                        "x": 939.8713989257812,
                        "y": 3550.2060546875,
                        "z": 370.8621826171875
                    },
                    "rotation": {
                        "roll": 0.008987560868263245,
                        "pitch": 0.12043672055006027,
                        "yaw": -80.82267761230469
                    }
                },
                "velocity": {
                    "x": 2.1506097316741943,
                    "y": -13.311970710754395,
                    "z": -0.017963608726859093
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076189994812012,
                "transform": {
                    "location": {
                        "x": 950.1962890625,
                        "y": 3506.5166015625,
                        "z": 370.7606201171875
                    },
                    "rotation": {
                        "roll": -0.0016479569021612406,
                        "pitch": -0.16751037538051605,
                        "yaw": -80.8708267211914
                    }
                },
                "velocity": {
                    "x": 1.28324556350708,
                    "y": -7.973557472229004,
                    "z": -0.022473463788628578
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06517219543457,
                "transform": {
                    "location": {
                        "x": 956.9805297851562,
                        "y": 3464.3642578125,
                        "z": 370.59906005859375
                    },
                    "rotation": {
                        "roll": 9.935884736478329e-05,
                        "pitch": -0.25014883279800415,
                        "yaw": -80.85785675048828
                    }
                },
                "velocity": {
                    "x": 1.2814507484436035,
                    "y": -7.962645053863525,
                    "z": -0.034188441932201385
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.1033325195312,
                        "y": 3461.59033203125,
                        "z": 370.5809631347656
                    },
                    "rotation": {
                        "roll": 2.6680691433966786e-08,
                        "pitch": -0.25573593378067017,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.065032958984375,
                "transform": {
                    "location": {
                        "x": 942.0608520507812,
                        "y": 3556.98828125,
                        "z": 370.86285400390625
                    },
                    "rotation": {
                        "roll": 0.02358459122478962,
                        "pitch": 0.4729837477207184,
                        "yaw": -80.70255279541016
                    }
                },
                "velocity": {
                    "x": 1.78199303150177,
                    "y": -10.9205904006958,
                    "z": -0.012596272863447666
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.7893676757812,
                        "y": 3461.2939453125,
                        "z": 370.5870666503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.202593803405762,
                "transform": {
                    "location": {
                        "x": 948.2327270507812,
                        "y": 3476.565185546875,
                        "z": 370.6502685546875
                    },
                    "rotation": {
                        "roll": 0.0028083145152777433,
                        "pitch": 0.055720679461956024,
                        "yaw": 99.17523956298828
                    }
                },
                "velocity": {
                    "x": -1.467494010925293,
                    "y": 9.08475112915039,
                    "z": 0.038618896156549454
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023524284362793,
                "transform": {
                    "location": {
                        "x": 947.356201171875,
                        "y": 3503.713134765625,
                        "z": 370.7386169433594
                    },
                    "rotation": {
                        "roll": 0.0001356305438093841,
                        "pitch": -0.16979166865348816,
                        "yaw": -80.85588073730469
                    }
                },
                "velocity": {
                    "x": 1.2750552892684937,
                    "y": -7.921525001525879,
                    "z": -0.024952206760644913
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0467257499694824,
                "transform": {
                    "location": {
                        "x": 933.080810546875,
                        "y": 3550.24365234375,
                        "z": 370.8659973144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.12114022672176361,
                        "yaw": 99.16236114501953
                    }
                },
                "velocity": {
                    "x": -0.48325514793395996,
                    "y": 3.008152723312378,
                    "z": 0.004332065582275391
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00717006204649806,
                "transform": {
                    "location": {
                        "x": 930.684326171875,
                        "y": 3565.028076171875,
                        "z": 370.87725830078125
                    },
                    "rotation": {
                        "roll": 0.0009002023143693805,
                        "pitch": -0.7865030765533447,
                        "yaw": 99.35935974121094
                    }
                },
                "velocity": {
                    "x": 0.0009576944285072386,
                    "y": -0.007105404511094093,
                    "z": 7.641889533260837e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 953.2138061523438,
                        "y": 3446.229248046875,
                        "z": 370.51312255859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.534390449523926,
                "transform": {
                    "location": {
                        "x": 944.7008666992188,
                        "y": 3498.498779296875,
                        "z": 370.7330627441406
                    },
                    "rotation": {
                        "roll": -0.0005493169883266091,
                        "pitch": -0.06632113456726074,
                        "yaw": 99.13630676269531
                    }
                },
                "velocity": {
                    "x": -1.356984257698059,
                    "y": 8.425769805908203,
                    "z": 0.028634022921323776
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.755417823791504,
                "transform": {
                    "location": {
                        "x": 941.3751831054688,
                        "y": 3519.16064453125,
                        "z": 370.7981872558594
                    },
                    "rotation": {
                        "roll": 0.0010757113341242075,
                        "pitch": 0.24710939824581146,
                        "yaw": 99.14643096923828
                    }
                },
                "velocity": {
                    "x": -1.3920629024505615,
                    "y": 8.644009590148926,
                    "z": 0.024764984846115112
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.02774715423584,
                "transform": {
                    "location": {
                        "x": 937.8900756835938,
                        "y": 3540.8193359375,
                        "z": 370.84600830078125
                    },
                    "rotation": {
                        "roll": -0.00039672860293649137,
                        "pitch": 0.10631871968507767,
                        "yaw": 99.13988494873047
                    }
                },
                "velocity": {
                    "x": -1.2775399684906006,
                    "y": 7.925429344177246,
                    "z": 0.013589820824563503
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.20982900261878967,
        "expert_target_speed": 8.556600358556876,
        "target_point": [
            12.193939180650395,
            -0.05045655840056318
        ],
        "target_point_next": [
            38.4383680858017,
            -0.9580338991179884
        ]
    },
    "535": {
        "acceleration": [
            -0.6244015693664551,
            4.272975921630859,
            0.007328204810619354
        ],
        "angular_velocity": [
            -0.19791819155216217,
            -0.2591063678264618,
            -0.8836861848831177
        ],
        "forward_vector": [
            -0.1911434829235077,
            0.9814730882644653,
            0.013218732550740242
        ],
        "right_vector": [
            -0.9815599322319031,
            -0.19115398824214935,
            -0.00047487483243457973
        ],
        "location": [
            936.09912109375,
            3533.965576171875,
            370.82720947265625
        ],
        "rotation": [
            0.027210703119635582,
            0.7573996186256409,
            101.02050018310547
        ],
        "velocity": [
            -1.916085124015808,
            9.912517547607422,
            0.02129901759326458
        ],
        "speed": 10.096008435718531,
        "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": 17.423311233520508,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.9429321289062,
                3551.1005859375,
                370.86810302734375
            ],
            "velocity": [
                -0.6296199560165405,
                3.9133169651031494,
                0.006110095884650946
            ],
            "speed_kmh": 14.269134082339596,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.0648803710938,
                        "y": 3624.764892578125,
                        "z": 370.88385009765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.933351516723633,
                "transform": {
                    "location": {
                        "x": 883.5128173828125,
                        "y": 3572.7236328125,
                        "z": 371.2483825683594
                    },
                    "rotation": {
                        "roll": -0.0036926253233104944,
                        "pitch": -0.3759813904762268,
                        "yaw": 9.5068998336792
                    }
                },
                "velocity": {
                    "x": 5.8457536697387695,
                    "y": 1.0138980150222778,
                    "z": 0.06193733215332031
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.856201171875,
                        "y": 3624.248291015625,
                        "z": 370.8839416503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.038393020629883,
                "transform": {
                    "location": {
                        "x": 982.13427734375,
                        "y": 3585.8681640625,
                        "z": 370.3805236816406
                    },
                    "rotation": {
                        "roll": -0.027954107150435448,
                        "pitch": 0.6751300096511841,
                        "yaw": -170.68089294433594
                    }
                },
                "velocity": {
                    "x": -7.926033020019531,
                    "y": -1.3368791341781616,
                    "z": 0.08078519999980927
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.084716796875,
                        "y": 3445.218017578125,
                        "z": 370.5138244628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 925.0807495117188,
                        "y": 3621.038330078125,
                        "z": 370.9626770019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.9381713867188,
                        "y": 3620.112060546875,
                        "z": 370.98052978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.514827728271484,
                "transform": {
                    "location": {
                        "x": 940.4115600585938,
                        "y": 3546.8603515625,
                        "z": 370.85699462890625
                    },
                    "rotation": {
                        "roll": 0.0026265932247042656,
                        "pitch": -0.03548965975642204,
                        "yaw": -80.83670806884766
                    }
                },
                "velocity": {
                    "x": 2.1525356769561768,
                    "y": -13.342288970947266,
                    "z": -0.02184273675084114
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076536178588867,
                "transform": {
                    "location": {
                        "x": 950.5169067382812,
                        "y": 3504.5234375,
                        "z": 370.7547607421875
                    },
                    "rotation": {
                        "roll": 1.6401862012571655e-05,
                        "pitch": -0.16973702609539032,
                        "yaw": -80.84249877929688
                    }
                },
                "velocity": {
                    "x": 1.2835335731506348,
                    "y": -7.973855018615723,
                    "z": -0.02473067305982113
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.2601318359375,
                        "y": 3462.299560546875,
                        "z": 370.58837890625
                    },
                    "rotation": {
                        "roll": 2.6680691433966786e-08,
                        "pitch": -0.25573593378067017,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86237,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.3690185546875,
                        "y": 3459.5244140625,
                        "z": 370.5767517089844
                    },
                    "rotation": {
                        "roll": 2.6680691433966786e-08,
                        "pitch": -0.25573593378067017,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.060565948486328,
                "transform": {
                    "location": {
                        "x": 942.5265502929688,
                        "y": 3554.130615234375,
                        "z": 370.8596496582031
                    },
                    "rotation": {
                        "roll": 0.015534067526459694,
                        "pitch": 0.41968095302581787,
                        "yaw": -80.75859832763672
                    }
                },
                "velocity": {
                    "x": 1.9361833333969116,
                    "y": -11.904128074645996,
                    "z": -0.013080939650535583
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.4612426757812,
                        "y": 3463.3330078125,
                        "z": 370.59588623046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.869743347167969,
                "transform": {
                    "location": {
                        "x": 947.8970336914062,
                        "y": 3478.644287109375,
                        "z": 370.6588134765625
                    },
                    "rotation": {
                        "roll": 0.0007976397755555809,
                        "pitch": 0.027587132528424263,
                        "yaw": 99.16316986083984
                    }
                },
                "velocity": {
                    "x": -1.2535645961761475,
                    "y": 7.769194602966309,
                    "z": 0.03238868713378906
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075136184692383,
                "transform": {
                    "location": {
                        "x": 947.6759643554688,
                        "y": 3501.72607421875,
                        "z": 370.7323303222656
                    },
                    "rotation": {
                        "roll": -0.00015259282372426242,
                        "pitch": -0.18660758435726166,
                        "yaw": -80.85613250732422
                    }
                },
                "velocity": {
                    "x": 1.2833082675933838,
                    "y": -7.972471237182617,
                    "z": -0.02545306086540222
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9636483192443848,
                "transform": {
                    "location": {
                        "x": 932.9429321289062,
                        "y": 3551.1005859375,
                        "z": 370.86810302734375
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": -0.0017690189415588975,
                        "yaw": 99.15904998779297
                    }
                },
                "velocity": {
                    "x": -0.6296199560165405,
                    "y": 3.9133169651031494,
                    "z": 0.006110095884650946
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.004973085597157478,
                "transform": {
                    "location": {
                        "x": 930.6837768554688,
                        "y": 3565.03125,
                        "z": 370.87530517578125
                    },
                    "rotation": {
                        "roll": 0.00018405693117529154,
                        "pitch": -0.2685220539569855,
                        "yaw": 99.35922241210938
                    }
                },
                "velocity": {
                    "x": 0.0008702693157829344,
                    "y": -0.004461921751499176,
                    "z": 0.0020162994042038918
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.8834838867188,
                        "y": 3448.2822265625,
                        "z": 370.5241394042969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.650545120239258,
                "transform": {
                    "location": {
                        "x": 944.3853759765625,
                        "y": 3500.458984375,
                        "z": 370.7396545410156
                    },
                    "rotation": {
                        "roll": 0.0013006232911720872,
                        "pitch": 0.016761282458901405,
                        "yaw": 99.15802764892578
                    }
                },
                "velocity": {
                    "x": -1.215130090713501,
                    "y": 7.553388595581055,
                    "z": 0.024953879415988922
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.485538005828857,
                "transform": {
                    "location": {
                        "x": 941.0656127929688,
                        "y": 3521.083740234375,
                        "z": 370.8026428222656
                    },
                    "rotation": {
                        "roll": 0.00022273269132710993,
                        "pitch": 0.36481404304504395,
                        "yaw": 99.12671661376953
                    }
                },
                "velocity": {
                    "x": -1.0301990509033203,
                    "y": 6.403170108795166,
                    "z": 0.017447633668780327
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.00606918334961,
                "transform": {
                    "location": {
                        "x": 937.5704345703125,
                        "y": 3542.803466796875,
                        "z": 370.84954833984375
                    },
                    "rotation": {
                        "roll": 0.0006709634326398373,
                        "pitch": 0.0872419998049736,
                        "yaw": 99.16873168945312
                    }
                },
                "velocity": {
                    "x": -1.273195505142212,
                    "y": 7.904172897338867,
                    "z": 0.012666005641222
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11482542753219604,
        "expert_target_speed": 9.529278218911784,
        "target_point": [
            9.849270773081967,
            -0.029818506229380537
        ],
        "target_point_next": [
            36.095283262005566,
            -0.8903843771490623
        ]
    },
    "540": {
        "acceleration": [
            0.44066667556762695,
            -1.2133026123046875,
            -0.004852674901485443
        ],
        "angular_velocity": [
            -1.641802191734314,
            -0.40003588795661926,
            -1.2546504735946655
        ],
        "forward_vector": [
            -0.1862056404352188,
            0.982479453086853,
            0.007848300039768219
        ],
        "right_vector": [
            -0.9825106859207153,
            -0.1862032562494278,
            -0.0010394682176411152
        ],
        "location": [
            935.6178588867188,
            3536.48681640625,
            370.8335876464844
        ],
        "rotation": [
            0.059558987617492676,
            0.4496791362762451,
            100.73176574707031
        ],
        "velocity": [
            -1.8965166807174683,
            10.083330154418945,
            0.021240824833512306
        ],
        "speed": 10.260132675713994,
        "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": 15.990668296813965,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.7625732421875,
                3552.220458984375,
                370.8699035644531
            ],
            "velocity": [
                -0.8047788739204407,
                4.993708610534668,
                0.010778512805700302
            ],
            "speed_kmh": 18.209350489605843,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.3960571289062,
                        "y": 3622.70751953125,
                        "z": 370.8825378417969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.693937301635742,
                "transform": {
                    "location": {
                        "x": 884.9437866210938,
                        "y": 3572.97119140625,
                        "z": 371.25604248046875
                    },
                    "rotation": {
                        "roll": -0.004119871184229851,
                        "pitch": -0.35406333208084106,
                        "yaw": 9.79079532623291
                    }
                },
                "velocity": {
                    "x": 5.6106085777282715,
                    "y": 0.9705325961112976,
                    "z": -0.007683496456593275
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.1873779296875,
                        "y": 3622.191162109375,
                        "z": 370.8825378417969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.179158210754395,
                "transform": {
                    "location": {
                        "x": 980.1361694335938,
                        "y": 3585.5224609375,
                        "z": 370.4035339355469
                    },
                    "rotation": {
                        "roll": -0.01324462704360485,
                        "pitch": 0.6913517117500305,
                        "yaw": -170.18861389160156
                    }
                },
                "velocity": {
                    "x": -8.05910873413086,
                    "y": -1.392932415008545,
                    "z": 0.09557151794433594
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.75390625,
                        "y": 3447.2744140625,
                        "z": 370.52301025390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.948486328125,
                        "y": 3621.8603515625,
                        "z": 370.92694091796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.805908203125,
                        "y": 3620.93359375,
                        "z": 370.9447937011719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.361013412475586,
                "transform": {
                    "location": {
                        "x": 940.9453735351562,
                        "y": 3543.54931640625,
                        "z": 370.85150146484375
                    },
                    "rotation": {
                        "roll": 0.001878718612715602,
                        "pitch": -0.10192690789699554,
                        "yaw": -80.84700012207031
                    }
                },
                "velocity": {
                    "x": 2.1257083415985107,
                    "y": -13.190814018249512,
                    "z": -0.021658172830939293
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076586723327637,
                "transform": {
                    "location": {
                        "x": 950.8379516601562,
                        "y": 3502.530517578125,
                        "z": 370.74835205078125
                    },
                    "rotation": {
                        "roll": 0.0005664950585924089,
                        "pitch": -0.18439461290836334,
                        "yaw": -80.87004852294922
                    }
                },
                "velocity": {
                    "x": 1.282486081123352,
                    "y": -7.974071979522705,
                    "z": -0.025543607771396637
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86238,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 957.5501098632812,
                        "y": 3460.236083984375,
                        "z": 370.5780334472656
                    },
                    "rotation": {
                        "roll": 2.6680691433966786e-08,
                        "pitch": -0.25573593378067017,
                        "yaw": -80.85750579833984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.035943984985352,
                "transform": {
                    "location": {
                        "x": 943.029296875,
                        "y": 3551.029052734375,
                        "z": 370.8559265136719
                    },
                    "rotation": {
                        "roll": 0.014607582241296768,
                        "pitch": 0.38459426164627075,
                        "yaw": -80.80958557128906
                    }
                },
                "velocity": {
                    "x": 2.081383228302002,
                    "y": -12.868696212768555,
                    "z": -0.018150852993130684
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.1527099609375,
                        "y": 3465.25048828125,
                        "z": 370.60400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.938596725463867,
                "transform": {
                    "location": {
                        "x": 947.5874633789062,
                        "y": 3480.564208984375,
                        "z": 370.6668701171875
                    },
                    "rotation": {
                        "roll": 0.0003379293775651604,
                        "pitch": 0.18619777262210846,
                        "yaw": 99.15869903564453
                    }
                },
                "velocity": {
                    "x": -1.2634227275848389,
                    "y": 7.837347030639648,
                    "z": 0.03280166536569595
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023454666137695,
                "transform": {
                    "location": {
                        "x": 947.9957885742188,
                        "y": 3499.739990234375,
                        "z": 370.72576904296875
                    },
                    "rotation": {
                        "roll": -0.0004882877692580223,
                        "pitch": -0.18871811032295227,
                        "yaw": -80.85783386230469
                    }
                },
                "velocity": {
                    "x": 1.2733620405197144,
                    "y": -7.921726703643799,
                    "z": -0.024791764095425606
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.05815315246582,
                "transform": {
                    "location": {
                        "x": 932.7625732421875,
                        "y": 3552.220458984375,
                        "z": 370.8699035644531
                    },
                    "rotation": {
                        "roll": -0.0004577678919304162,
                        "pitch": -0.04324192553758621,
                        "yaw": 99.15261840820312
                    }
                },
                "velocity": {
                    "x": -0.8047788739204407,
                    "y": 4.993708610534668,
                    "z": 0.010778512805700302
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.002215304644778371,
                "transform": {
                    "location": {
                        "x": 930.68359375,
                        "y": 3565.032470703125,
                        "z": 370.87457275390625
                    },
                    "rotation": {
                        "roll": 0.00037238217191770673,
                        "pitch": -0.05100101977586746,
                        "yaw": 99.35916900634766
                    }
                },
                "velocity": {
                    "x": 0.00030440205591730773,
                    "y": -0.0015687192790210247,
                    "z": 0.0015342860715463758
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.5728759765625,
                        "y": 3450.21240234375,
                        "z": 370.5343322753906
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.170419692993164,
                "transform": {
                    "location": {
                        "x": 944.0723876953125,
                        "y": 3502.40234375,
                        "z": 370.7462158203125
                    },
                    "rotation": {
                        "roll": 3.6045476008439437e-05,
                        "pitch": 0.20103977620601654,
                        "yaw": 99.13740539550781
                    }
                },
                "velocity": {
                    "x": -1.2994544506072998,
                    "y": 8.06638240814209,
                    "z": 0.025478333234786987
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.118496417999268,
                "transform": {
                    "location": {
                        "x": 940.8206787109375,
                        "y": 3522.607666015625,
                        "z": 370.80780029296875
                    },
                    "rotation": {
                        "roll": 0.00031427122303284705,
                        "pitch": 0.2277936339378357,
                        "yaw": 99.16017150878906
                    }
                },
                "velocity": {
                    "x": -0.9722347855567932,
                    "y": 6.040735721588135,
                    "z": 0.01649259589612484
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.633193016052246,
                "transform": {
                    "location": {
                        "x": 937.2592163085938,
                        "y": 3544.734619140625,
                        "z": 370.8525390625
                    },
                    "rotation": {
                        "roll": -0.0012207047548145056,
                        "pitch": 0.045659810304641724,
                        "yaw": 99.1386489868164
                    }
                },
                "velocity": {
                    "x": -1.214609980583191,
                    "y": 7.535926342010498,
                    "z": 0.013136434368789196
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.09717945754528046,
        "expert_target_speed": 9.558816105692786,
        "target_point": [
            33.53255228664875,
            -0.7118439267138301
        ],
        "target_point_next": [
            52.025346305460545,
            -1.2249276843175654
        ]
    },
    "545": {
        "acceleration": [
            1.6298866271972656,
            -7.434825897216797,
            -0.016226768493652344
        ],
        "angular_velocity": [
            -2.6108508110046387,
            -0.5607106685638428,
            -1.4416941404342651
        ],
        "forward_vector": [
            -0.1804000288248062,
            0.9835930466651917,
            0.0007996557978913188
        ],
        "right_vector": [
            -0.9835925698280334,
            -0.18039880692958832,
            -0.0013963566161692142
        ],
        "location": [
            935.16162109375,
            3538.94921875,
            370.8401794433594
        ],
        "rotation": [
            0.08000539243221283,
            0.04581690579652786,
            100.39306640625
        ],
        "velocity": [
            -1.6875144243240356,
            9.296507835388184,
            0.020075978711247444
        ],
        "speed": 9.448426475648501,
        "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": 14.78217601776123,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.5565185546875,
                3553.5,
                370.8707580566406
            ],
            "velocity": [
                -0.8106910586357117,
                5.034079074859619,
                0.005551805254071951
            ],
            "speed_kmh": 18.35618887987229,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.7269897460938,
                        "y": 3620.650146484375,
                        "z": 370.8839111328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.922684669494629,
                "transform": {
                    "location": {
                        "x": 886.380615234375,
                        "y": 3573.216796875,
                        "z": 371.24896240234375
                    },
                    "rotation": {
                        "roll": -0.0030517573468387127,
                        "pitch": -0.36010804772377014,
                        "yaw": 9.72616195678711
                    }
                },
                "velocity": {
                    "x": 5.839425086975098,
                    "y": 0.9888952970504761,
                    "z": -0.0373549610376358
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.518310546875,
                        "y": 3620.1337890625,
                        "z": 370.8839111328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.951956272125244,
                "transform": {
                    "location": {
                        "x": 978.1508178710938,
                        "y": 3585.179931640625,
                        "z": 370.427734375
                    },
                    "rotation": {
                        "roll": 0.0006410990608856082,
                        "pitch": 0.654482364654541,
                        "yaw": -170.20797729492188
                    }
                },
                "velocity": {
                    "x": -7.835883617401123,
                    "y": -1.3504676818847656,
                    "z": 0.09367293864488602
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.4229736328125,
                        "y": 3449.330810546875,
                        "z": 370.53253173828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.750244140625,
                        "y": 3623.09375,
                        "z": 370.8909606933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.6077270507812,
                        "y": 3622.165771484375,
                        "z": 370.8912353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.384905815124512,
                "transform": {
                    "location": {
                        "x": 941.4769287109375,
                        "y": 3540.250244140625,
                        "z": 370.8456115722656
                    },
                    "rotation": {
                        "roll": 0.0011825922410935163,
                        "pitch": -0.11471302062273026,
                        "yaw": -80.84605407714844
                    }
                },
                "velocity": {
                    "x": 2.1289165019989014,
                    "y": -13.21449089050293,
                    "z": -0.025166340172290802
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.075996398925781,
                "transform": {
                    "location": {
                        "x": 951.1585693359375,
                        "y": 3500.537353515625,
                        "z": 370.7418518066406
                    },
                    "rotation": {
                        "roll": -0.00015259954670909792,
                        "pitch": -0.1922561526298523,
                        "yaw": -80.8463134765625
                    }
                },
                "velocity": {
                    "x": 1.2831095457077026,
                    "y": -7.973373889923096,
                    "z": -0.025417156517505646
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.570513725280762,
                "transform": {
                    "location": {
                        "x": 943.563232421875,
                        "y": 3547.72265625,
                        "z": 370.851318359375
                    },
                    "rotation": {
                        "roll": 0.011158717796206474,
                        "pitch": 0.25393274426460266,
                        "yaw": -80.83476257324219
                    }
                },
                "velocity": {
                    "x": 2.1605947017669678,
                    "y": -13.397396087646484,
                    "z": -0.021538037806749344
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.8296508789062,
                        "y": 3467.257080078125,
                        "z": 370.6124267578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.20322036743164,
                "transform": {
                    "location": {
                        "x": 947.262451171875,
                        "y": 3482.580322265625,
                        "z": 370.6750793457031
                    },
                    "rotation": {
                        "roll": 0.0006781963165849447,
                        "pitch": 0.2518632113933563,
                        "yaw": 99.15705108642578
                    }
                },
                "velocity": {
                    "x": -1.305429458618164,
                    "y": 8.098614692687988,
                    "z": 0.033422525972127914
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07449722290039,
                "transform": {
                    "location": {
                        "x": 948.3154296875,
                        "y": 3497.7529296875,
                        "z": 370.7192077636719
                    },
                    "rotation": {
                        "roll": -3.0515899197780527e-05,
                        "pitch": -0.1873110979795456,
                        "yaw": -80.85659790039062
                    }
                },
                "velocity": {
                    "x": 1.2831459045410156,
                    "y": -7.9718475341796875,
                    "z": -0.026216158643364906
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.098941326141357,
                "transform": {
                    "location": {
                        "x": 932.5565185546875,
                        "y": 3553.5,
                        "z": 370.8707580566406
                    },
                    "rotation": {
                        "roll": -0.00012206965038785711,
                        "pitch": 0.042237889021635056,
                        "yaw": 99.1499252319336
                    }
                },
                "velocity": {
                    "x": -0.8106910586357117,
                    "y": 5.034079074859619,
                    "z": 0.005551805254071951
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00048401550156995654,
                "transform": {
                    "location": {
                        "x": 930.6834716796875,
                        "y": 3565.032958984375,
                        "z": 370.87432861328125
                    },
                    "rotation": {
                        "roll": 0.0001471200375817716,
                        "pitch": 0.009459811262786388,
                        "yaw": 99.35919189453125
                    }
                },
                "velocity": {
                    "x": 7.628765888512135e-05,
                    "y": -0.00047163880662992597,
                    "z": 7.751151133561507e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.2533569335938,
                        "y": 3452.19677734375,
                        "z": 370.54425048828125
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.101449012756348,
                "transform": {
                    "location": {
                        "x": 943.7459716796875,
                        "y": 3504.42919921875,
                        "z": 370.75238037109375
                    },
                    "rotation": {
                        "roll": -9.154092549579218e-05,
                        "pitch": 0.16519494354724884,
                        "yaw": 99.1668472290039
                    }
                },
                "velocity": {
                    "x": -1.2880419492721558,
                    "y": 7.998363494873047,
                    "z": 0.024577569216489792
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.5848917961120605,
                "transform": {
                    "location": {
                        "x": 940.56787109375,
                        "y": 3524.177734375,
                        "z": 370.8128356933594
                    },
                    "rotation": {
                        "roll": -0.0005798334022983909,
                        "pitch": 0.11118864268064499,
                        "yaw": 99.1114501953125
                    }
                },
                "velocity": {
                    "x": -1.0447269678115845,
                    "y": 6.50146484375,
                    "z": 0.017315644770860672
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.3598504066467285,
                "transform": {
                    "location": {
                        "x": 936.962158203125,
                        "y": 3546.57861328125,
                        "z": 370.85552978515625
                    },
                    "rotation": {
                        "roll": 0.00041736706043593585,
                        "pitch": 0.047824982553720474,
                        "yaw": 99.16608428955078
                    }
                },
                "velocity": {
                    "x": -1.169742465019226,
                    "y": 7.266287803649902,
                    "z": 0.01269297581166029
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.07316605746746063,
        "expert_target_speed": 8.983444018718119,
        "target_point": [
            31.031866397390544,
            -0.5181527308387599
        ],
        "target_point_next": [
            49.52737021434554,
            -0.9219151876387217
        ]
    },
    "550": {
        "acceleration": [
            1.0556268692016602,
            -4.919319152832031,
            -0.034826844930648804
        ],
        "angular_velocity": [
            -0.6548876166343689,
            -0.15683381259441376,
            -1.2962175607681274
        ],
        "forward_vector": [
            -0.17461785674095154,
            0.9846194386482239,
            -0.005751935299485922
        ],
        "right_vector": [
            -0.9846333265304565,
            -0.17462866008281708,
            -0.001428194809705019
        ],
        "location": [
            934.7799682617188,
            3541.084228515625,
            370.845703125
        ],
        "rotation": [
            0.08183091878890991,
            -0.3295634388923645,
            100.05658721923828
        ],
        "velocity": [
            -1.3939728736877441,
            7.968366622924805,
            0.013201732188463211
        ],
        "speed": 8.089377417942577,
        "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": 13.298178672790527,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.4476928710938,
                3554.17626953125,
                370.8680725097656
            ],
            "velocity": [
                -0.08138161152601242,
                0.5029945373535156,
                0.0017863368848338723
            ],
            "speed_kmh": 1.834339233464635,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.0581665039062,
                        "y": 3618.593017578125,
                        "z": 370.88531494140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.770550727844238,
                "transform": {
                    "location": {
                        "x": 887.9270629882812,
                        "y": 3573.478759765625,
                        "z": 371.2388610839844
                    },
                    "rotation": {
                        "roll": -0.00274658203125,
                        "pitch": -0.35320955514907837,
                        "yaw": 9.627382278442383
                    }
                },
                "velocity": {
                    "x": 6.676412105560303,
                    "y": 1.1242843866348267,
                    "z": -0.04320652410387993
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.8494873046875,
                        "y": 3618.076416015625,
                        "z": 370.88531494140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.095465660095215,
                "transform": {
                    "location": {
                        "x": 976.173583984375,
                        "y": 3584.839599609375,
                        "z": 370.4509582519531
                    },
                    "rotation": {
                        "roll": 0.006110948510468006,
                        "pitch": 0.6666264533996582,
                        "yaw": -170.2299346923828
                    }
                },
                "velocity": {
                    "x": -7.977624416351318,
                    "y": -1.3730297088623047,
                    "z": 0.09410899877548218
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.0919799804688,
                        "y": 3451.38720703125,
                        "z": 370.5428466796875
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4752197265625,
                        "y": 3622.988037109375,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.404695510864258,
                "transform": {
                    "location": {
                        "x": 942.0096435546875,
                        "y": 3536.943115234375,
                        "z": 370.8387756347656
                    },
                    "rotation": {
                        "roll": -9.156073065241799e-05,
                        "pitch": -0.11422807723283768,
                        "yaw": -80.85131072998047
                    }
                },
                "velocity": {
                    "x": 2.1319475173950195,
                    "y": -13.234040260314941,
                    "z": -0.028987539932131767
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.07638168334961,
                "transform": {
                    "location": {
                        "x": 951.4796752929688,
                        "y": 3498.5439453125,
                        "z": 370.7351989746094
                    },
                    "rotation": {
                        "roll": -0.00039672007551416755,
                        "pitch": -0.18869079649448395,
                        "yaw": -80.8675537109375
                    }
                },
                "velocity": {
                    "x": 1.283685326576233,
                    "y": -7.973671913146973,
                    "z": -0.025449765846133232
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.403433799743652,
                "transform": {
                    "location": {
                        "x": 944.1002197265625,
                        "y": 3544.394287109375,
                        "z": 370.8468322753906
                    },
                    "rotation": {
                        "roll": 0.005582339130342007,
                        "pitch": -0.003415094455704093,
                        "yaw": -80.83677673339844
                    }
                },
                "velocity": {
                    "x": 2.13395094871521,
                    "y": -13.232454299926758,
                    "z": -0.021336698904633522
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.5086669921875,
                        "y": 3469.252685546875,
                        "z": 370.620849609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.952805995941162,
                "transform": {
                    "location": {
                        "x": 946.9422607421875,
                        "y": 3484.567626953125,
                        "z": 370.6830139160156
                    },
                    "rotation": {
                        "roll": -0.0003356885863468051,
                        "pitch": 0.20476223528385162,
                        "yaw": 99.15125274658203
                    }
                },
                "velocity": {
                    "x": -1.2648208141326904,
                    "y": 7.851515293121338,
                    "z": 0.03242215886712074
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023812294006348,
                "transform": {
                    "location": {
                        "x": 948.6351318359375,
                        "y": 3495.76611328125,
                        "z": 370.7125244140625
                    },
                    "rotation": {
                        "roll": 0.0002128842897946015,
                        "pitch": -0.18994072079658508,
                        "yaw": -80.85941314697266
                    }
                },
                "velocity": {
                    "x": 1.2744723558425903,
                    "y": -7.921905994415283,
                    "z": -0.026194967329502106
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5095387101173401,
                "transform": {
                    "location": {
                        "x": 932.4476928710938,
                        "y": 3554.17626953125,
                        "z": 370.8680725097656
                    },
                    "rotation": {
                        "roll": -0.00042724559898488224,
                        "pitch": 0.42890170216560364,
                        "yaw": 99.16007232666016
                    }
                },
                "velocity": {
                    "x": -0.08138161152601242,
                    "y": 0.5029945373535156,
                    "z": 0.0017863368848338723
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0005152042722329497,
                "transform": {
                    "location": {
                        "x": 930.6834716796875,
                        "y": 3565.033447265625,
                        "z": 370.87420654296875
                    },
                    "rotation": {
                        "roll": 0.0001383730414090678,
                        "pitch": 0.03660981357097626,
                        "yaw": 99.3592529296875
                    }
                },
                "velocity": {
                    "x": 8.467947918688878e-05,
                    "y": -0.00019898275786545128,
                    "z": 0.0004676224198192358
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.9302368164062,
                        "y": 3454.205810546875,
                        "z": 370.5543212890625
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.951287746429443,
                "transform": {
                    "location": {
                        "x": 943.4290161132812,
                        "y": 3506.397705078125,
                        "z": 370.7582092285156
                    },
                    "rotation": {
                        "roll": -0.0004272551159374416,
                        "pitch": 0.14952649176120758,
                        "yaw": 99.13288116455078
                    }
                },
                "velocity": {
                    "x": -1.2635585069656372,
                    "y": 7.8502197265625,
                    "z": 0.021211795508861542
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.266416549682617,
                "transform": {
                    "location": {
                        "x": 940.2764892578125,
                        "y": 3525.9892578125,
                        "z": 370.81854248046875
                    },
                    "rotation": {
                        "roll": 0.00043792338692583144,
                        "pitch": -0.015190339647233486,
                        "yaw": 99.1153335571289
                    }
                },
                "velocity": {
                    "x": -1.3141155242919922,
                    "y": 8.161273956298828,
                    "z": 0.018864745274186134
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.157804012298584,
                "transform": {
                    "location": {
                        "x": 936.6736450195312,
                        "y": 3548.37158203125,
                        "z": 370.85845947265625
                    },
                    "rotation": {
                        "roll": -0.0003662140225060284,
                        "pitch": 0.0567520372569561,
                        "yaw": 99.12883758544922
                    }
                },
                "velocity": {
                    "x": -1.1372432708740234,
                    "y": 7.066874027252197,
                    "z": 0.011264781467616558
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.07187749445438385,
        "expert_target_speed": 7.532146680379546,
        "target_point": [
            28.865522741289723,
            -0.33887537617399754
        ],
        "target_point_next": [
            47.36307878704986,
            -0.6340124603920856
        ]
    },
    "555": {
        "acceleration": [
            0.3653597831726074,
            -1.013641357421875,
            -0.010692402720451355
        ],
        "angular_velocity": [
            0.8491386771202087,
            0.1220230683684349,
            -1.2835954427719116
        ],
        "forward_vector": [
            -0.16903340816497803,
            0.9855915307998657,
            -0.006075702141970396
        ],
        "right_vector": [
            -0.9856076240539551,
            -0.16904401779174805,
            -0.0012725386768579483
        ],
        "location": [
            934.4586791992188,
            3542.9501953125,
            370.8489074707031
        ],
        "rotation": [
            0.07291246205568314,
            -0.3481142222881317,
            99.73180389404297
        ],
        "velocity": [
            -1.1989846229553223,
            7.119867324829102,
            0.012170162051916122
        ],
        "speed": 7.220115985858706,
        "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": 11.555353164672852,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.423828125,
                3554.324951171875,
                370.8710021972656
            ],
            "velocity": [
                -0.18770626187324524,
                1.165044903755188,
                0.002535228617489338
            ],
            "speed_kmh": 4.248258850260741,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.3862915039062,
                        "y": 3616.552978515625,
                        "z": 370.8866271972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.289436340332031,
                "transform": {
                    "location": {
                        "x": 889.7925415039062,
                        "y": 3573.792724609375,
                        "z": 371.2264404296875
                    },
                    "rotation": {
                        "roll": -0.0019226062577217817,
                        "pitch": -0.3367283046245575,
                        "yaw": 9.564118385314941
                    }
                },
                "velocity": {
                    "x": 8.174609184265137,
                    "y": 1.373928189277649,
                    "z": -0.05336473882198334
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 929.1776123046875,
                        "y": 3616.037109375,
                        "z": 370.8866271972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.866881370544434,
                "transform": {
                    "location": {
                        "x": 974.2075805664062,
                        "y": 3584.5068359375,
                        "z": 370.47412109375
                    },
                    "rotation": {
                        "roll": 0.01742449589073658,
                        "pitch": 0.6622961163520813,
                        "yaw": -170.40274047851562
                    }
                },
                "velocity": {
                    "x": -7.7574615478515625,
                    "y": -1.3043055534362793,
                    "z": 0.09165660291910172
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.7610473632812,
                        "y": 3453.443603515625,
                        "z": 370.5531311035156
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.398449897766113,
                "transform": {
                    "location": {
                        "x": 942.5421752929688,
                        "y": 3533.63525390625,
                        "z": 370.8316955566406
                    },
                    "rotation": {
                        "roll": 0.0015444597229361534,
                        "pitch": -0.1180393248796463,
                        "yaw": -80.85550689697266
                    }
                },
                "velocity": {
                    "x": 2.1290130615234375,
                    "y": -13.228184700012207,
                    "z": -0.029959430918097496
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076207160949707,
                "transform": {
                    "location": {
                        "x": 951.8003540039062,
                        "y": 3496.55078125,
                        "z": 370.7285461425781
                    },
                    "rotation": {
                        "roll": 4.687109321821481e-05,
                        "pitch": -0.18954457342624664,
                        "yaw": -80.83857727050781
                    }
                },
                "velocity": {
                    "x": 1.2838480472564697,
                    "y": -7.973465442657471,
                    "z": -0.026469796895980835
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.342964172363281,
                "transform": {
                    "location": {
                        "x": 944.6314086914062,
                        "y": 3541.098876953125,
                        "z": 370.84130859375
                    },
                    "rotation": {
                        "roll": 0.0049596624448895454,
                        "pitch": -0.10464531928300858,
                        "yaw": -80.85111999511719
                    }
                },
                "velocity": {
                    "x": 2.120570182800293,
                    "y": -13.173354148864746,
                    "z": -0.025061611086130142
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.1914672851562,
                        "y": 3471.223388671875,
                        "z": 370.62908935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.071039199829102,
                "transform": {
                    "location": {
                        "x": 946.6244506835938,
                        "y": 3486.541748046875,
                        "z": 370.69085693359375
                    },
                    "rotation": {
                        "roll": 0.0004858410684391856,
                        "pitch": 0.22866788506507874,
                        "yaw": 99.14558410644531
                    }
                },
                "velocity": {
                    "x": -1.2820255756378174,
                    "y": 7.96851110458374,
                    "z": 0.030160855501890182
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074329376220703,
                "transform": {
                    "location": {
                        "x": 948.954833984375,
                        "y": 3493.779541015625,
                        "z": 370.70556640625
                    },
                    "rotation": {
                        "roll": -0.0005798294441774487,
                        "pitch": -0.20629902184009552,
                        "yaw": -80.86042022705078
                    }
                },
                "velocity": {
                    "x": 1.2825247049331665,
                    "y": -7.9717631340026855,
                    "z": -0.030306648463010788
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1800718307495117,
                "transform": {
                    "location": {
                        "x": 932.423828125,
                        "y": 3554.324951171875,
                        "z": 370.8710021972656
                    },
                    "rotation": {
                        "roll": -0.0004577601794153452,
                        "pitch": 0.1048775464296341,
                        "yaw": 99.17841339111328
                    }
                },
                "velocity": {
                    "x": -0.18770626187324524,
                    "y": 1.165044903755188,
                    "z": 0.002535228617489338
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00011100035771960393,
                "transform": {
                    "location": {
                        "x": 930.6834106445312,
                        "y": 3565.033447265625,
                        "z": 370.87420654296875
                    },
                    "rotation": {
                        "roll": -3.0517412596964277e-05,
                        "pitch": 0.045243170112371445,
                        "yaw": 99.35918426513672
                    }
                },
                "velocity": {
                    "x": 1.549847365822643e-05,
                    "y": -8.469896420137957e-05,
                    "z": 7.004971848800778e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.6136474609375,
                        "y": 3456.171875,
                        "z": 370.5635986328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.108877182006836,
                "transform": {
                    "location": {
                        "x": 943.1091918945312,
                        "y": 3508.3837890625,
                        "z": 370.7640686035156
                    },
                    "rotation": {
                        "roll": -0.00024412710627075285,
                        "pitch": 0.18235237896442413,
                        "yaw": 99.16641235351562
                    }
                },
                "velocity": {
                    "x": -1.2891862392425537,
                    "y": 8.005708694458008,
                    "z": 0.02255859412252903
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.194083213806152,
                "transform": {
                    "location": {
                        "x": 939.944580078125,
                        "y": 3528.052734375,
                        "z": 370.8226013183594
                    },
                    "rotation": {
                        "roll": -9.155405859928578e-05,
                        "pitch": 0.11586049199104309,
                        "yaw": 99.10757446289062
                    }
                },
                "velocity": {
                    "x": -1.300197720527649,
                    "y": 8.090243339538574,
                    "z": 0.0214743223041296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.879883766174316,
                "transform": {
                    "location": {
                        "x": 936.3949584960938,
                        "y": 3550.10205078125,
                        "z": 370.8609619140625
                    },
                    "rotation": {
                        "roll": 0.0009882114827632904,
                        "pitch": 0.039567284286022186,
                        "yaw": 99.16148376464844
                    }
                },
                "velocity": {
                    "x": -1.0930393934249878,
                    "y": 6.792494773864746,
                    "z": 0.008924311958253384
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.07266177982091904,
        "expert_target_speed": 6.593556658827781,
        "target_point": [
            26.97355519536545,
            -0.1764919849231683
        ],
        "target_point_next": [
            45.47248706344996,
            -0.3667689001945611
        ]
    },
    "560": {
        "acceleration": [
            1.3642477989196777,
            -7.642803192138672,
            -0.0066627562046051025
        ],
        "angular_velocity": [
            -1.1907448768615723,
            -0.29036223888397217,
            2.0144379138946533
        ],
        "forward_vector": [
            -0.16478119790554047,
            0.9862887263298035,
            -0.009033318608999252
        ],
        "right_vector": [
            -0.9863269329071045,
            -0.16479705274105072,
            -0.0010329679353162646
        ],
        "location": [
            934.1914672851562,
            3544.5576171875,
            370.85205078125
        ],
        "rotation": [
            0.059187132865190506,
            -0.5175780653953552,
            99.48491668701172
        ],
        "velocity": [
            -0.8871074318885803,
            5.456978797912598,
            0.009206905029714108
        ],
        "speed": 5.528614401147865,
        "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": 10.345428466796875,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.3566284179688,
                3554.739013671875,
                370.87249755859375
            ],
            "velocity": [
                -0.33875250816345215,
                2.0949056148529053,
                0.0022286223247647285
            ],
            "speed_kmh": 7.639627308801129,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.7035522460938,
                        "y": 3614.581787109375,
                        "z": 370.88800048828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.685182571411133,
                "transform": {
                    "location": {
                        "x": 891.8826293945312,
                        "y": 3574.140869140625,
                        "z": 371.2127380371094
                    },
                    "rotation": {
                        "roll": 0.000536587496753782,
                        "pitch": -0.36294257640838623,
                        "yaw": 9.420830726623535
                    }
                },
                "velocity": {
                    "x": 8.569366455078125,
                    "y": 1.4124608039855957,
                    "z": -0.057435762137174606
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 929.4948120117188,
                        "y": 3614.066162109375,
                        "z": 370.88800048828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.074773788452148,
                "transform": {
                    "location": {
                        "x": 972.48779296875,
                        "y": 3584.21875,
                        "z": 370.49432373046875
                    },
                    "rotation": {
                        "roll": 0.011620847508311272,
                        "pitch": 0.37484076619148254,
                        "yaw": -170.48846435546875
                    }
                },
                "velocity": {
                    "x": -5.991311550140381,
                    "y": -1.0009560585021973,
                    "z": 0.07173620164394379
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.4300537109375,
                        "y": 3455.5,
                        "z": 370.56292724609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.396883964538574,
                "transform": {
                    "location": {
                        "x": 943.0739135742188,
                        "y": 3530.32861328125,
                        "z": 370.8240051269531
                    },
                    "rotation": {
                        "roll": 0.0020347891841083765,
                        "pitch": -0.14508004486560822,
                        "yaw": -80.87422943115234
                    }
                },
                "velocity": {
                    "x": 2.1259331703186035,
                    "y": -13.227086067199707,
                    "z": -0.03320939466357231
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.07700252532959,
                "transform": {
                    "location": {
                        "x": 952.1216430664062,
                        "y": 3494.55810546875,
                        "z": 370.7217102050781
                    },
                    "rotation": {
                        "roll": 0.0009241958614438772,
                        "pitch": -0.20424996316432953,
                        "yaw": -80.86542510986328
                    }
                },
                "velocity": {
                    "x": 1.2840430736541748,
                    "y": -7.974231243133545,
                    "z": -0.029028920456767082
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.382659912109375,
                "transform": {
                    "location": {
                        "x": 945.1626586914062,
                        "y": 3537.800537109375,
                        "z": 370.8345642089844
                    },
                    "rotation": {
                        "roll": 0.0022628174629062414,
                        "pitch": -0.10626407712697983,
                        "yaw": -80.85011291503906
                    }
                },
                "velocity": {
                    "x": 2.127431631088257,
                    "y": -13.212448120117188,
                    "z": -0.0287178885191679
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.8701171875,
                        "y": 3473.219970703125,
                        "z": 370.6374816894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.068656921386719,
                "transform": {
                    "location": {
                        "x": 946.3031005859375,
                        "y": 3488.53857421875,
                        "z": 370.6983642578125
                    },
                    "rotation": {
                        "roll": 0.00010875012958422303,
                        "pitch": 0.2084573656320572,
                        "yaw": 99.1403579711914
                    }
                },
                "velocity": {
                    "x": -1.2816599607467651,
                    "y": 7.966159343719482,
                    "z": 0.02965545654296875
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023487091064453,
                "transform": {
                    "location": {
                        "x": 949.2745361328125,
                        "y": 3491.79296875,
                        "z": 370.69830322265625
                    },
                    "rotation": {
                        "roll": 0.00020922927069477737,
                        "pitch": -0.20864860713481903,
                        "yaw": -80.85613250732422
                    }
                },
                "velocity": {
                    "x": 1.2750318050384521,
                    "y": -7.921478271484375,
                    "z": -0.02874843031167984
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1221187114715576,
                "transform": {
                    "location": {
                        "x": 932.3566284179688,
                        "y": 3554.739013671875,
                        "z": 370.87249755859375
                    },
                    "rotation": {
                        "roll": 0.00017301840125583112,
                        "pitch": -0.01821611262857914,
                        "yaw": 99.13249206542969
                    }
                },
                "velocity": {
                    "x": -0.33875250816345215,
                    "y": 2.0949056148529053,
                    "z": 0.0022286223247647285
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3620599020214286e-05,
                "transform": {
                    "location": {
                        "x": 930.6834106445312,
                        "y": 3565.03369140625,
                        "z": 370.8741760253906
                    },
                    "rotation": {
                        "roll": 0.0006022124434821308,
                        "pitch": 0.04909539595246315,
                        "yaw": 99.35916900634766
                    }
                },
                "velocity": {
                    "x": 5.351461140890024e-07,
                    "y": -6.672665222140495e-06,
                    "z": 1.1862119208672084e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2925415039062,
                        "y": 3458.1669921875,
                        "z": 370.5729675292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.033258438110352,
                "transform": {
                    "location": {
                        "x": 942.788330078125,
                        "y": 3510.37744140625,
                        "z": 370.7697448730469
                    },
                    "rotation": {
                        "roll": -0.0018005419988185167,
                        "pitch": 0.15921169519424438,
                        "yaw": 99.129150390625
                    }
                },
                "velocity": {
                    "x": -1.2768025398254395,
                    "y": 7.931110858917236,
                    "z": 0.022333096712827682
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.873807907104492,
                "transform": {
                    "location": {
                        "x": 939.6283569335938,
                        "y": 3530.021240234375,
                        "z": 370.8271789550781
                    },
                    "rotation": {
                        "roll": 0.0005016475333832204,
                        "pitch": 0.16958676278591156,
                        "yaw": 99.15482330322266
                    }
                },
                "velocity": {
                    "x": -1.2518049478530884,
                    "y": 7.77363395690918,
                    "z": 0.02113076113164425
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.653868675231934,
                "transform": {
                    "location": {
                        "x": 936.1267700195312,
                        "y": 3551.77001953125,
                        "z": 370.86328125
                    },
                    "rotation": {
                        "roll": 0.00018328620353713632,
                        "pitch": 0.026869961991906166,
                        "yaw": 99.1217041015625
                    }
                },
                "velocity": {
                    "x": -1.056152582168579,
                    "y": 6.569508075714111,
                    "z": 0.00862211175262928
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.08403249830007553,
        "expert_target_speed": 5.311125765550547,
        "target_point": [
            25.344585121186576,
            -0.05894460111544486
        ],
        "target_point_next": [
            43.84416511783668,
            -0.16951363864917468
        ]
    },
    "565": {
        "acceleration": [
            2.4590091705322266,
            -17.427400588989258,
            -0.043385207653045654
        ],
        "angular_velocity": [
            -2.287048578262329,
            0.27313947677612305,
            0.0022263063583523035
        ],
        "forward_vector": [
            -0.1751975566148758,
            0.984095573425293,
            -0.029354406520724297
        ],
        "right_vector": [
            -0.9845160841941833,
            -0.1752929389476776,
            -0.0006880518049001694
        ],
        "location": [
            934.0957641601562,
            3545.17236328125,
            370.857177734375
        ],
        "rotation": [
            0.03943946212530136,
            -1.682125210762024,
            100.09455108642578
        ],
        "velocity": [
            0.006103022024035454,
            0.0077718826942145824,
            -0.0016429084353148937
        ],
        "speed": 0.009881752801932151,
        "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": 10.250652313232422,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.2723388671875,
                3555.259521484375,
                370.8722839355469
            ],
            "velocity": [
                -0.24980780482292175,
                1.5962780714035034,
                0.001173152937553823
            ],
            "speed_kmh": 5.8165450741475455,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 986.4259033203125,
                        "y": 3586.569091796875,
                        "z": 370.6688232421875
                    },
                    "rotation": {
                        "roll": 6.670674679298827e-09,
                        "pitch": 0.747953474521637,
                        "yaw": -170.74758911132812
                    }
                },
                "velocity": {
                    "x": -5.763362009858497e-10,
                    "y": -9.388698152257291e-11,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.7442626953125,
                        "y": 3441.120849609375,
                        "z": 370.8089294433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3325960338115692,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.5299682617188,
                        "y": 3628.089599609375,
                        "z": 370.8928527832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.3212890625,
                        "y": 3627.572998046875,
                        "z": 370.8929138183594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.21189022064209,
                "transform": {
                    "location": {
                        "x": 932.9761352539062,
                        "y": 3612.9150390625,
                        "z": 370.894287109375
                    },
                    "rotation": {
                        "roll": -0.02642822079360485,
                        "pitch": -0.3013615906238556,
                        "yaw": -80.71452331542969
                    }
                },
                "velocity": {
                    "x": 1.0288379192352295,
                    "y": -6.126070022583008,
                    "z": 0.01845635287463665
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.049657821655273,
                "transform": {
                    "location": {
                        "x": 893.9481201171875,
                        "y": 3574.481201171875,
                        "z": 371.1991271972656
                    },
                    "rotation": {
                        "roll": -0.0005188001086935401,
                        "pitch": -0.3985210359096527,
                        "yaw": 9.313878059387207
                    }
                },
                "velocity": {
                    "x": 7.94373893737793,
                    "y": 1.3003343343734741,
                    "z": -0.055900171399116516
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.453270435333252,
                "transform": {
                    "location": {
                        "x": 929.7603759765625,
                        "y": 3612.464599609375,
                        "z": 370.88812255859375
                    },
                    "rotation": {
                        "roll": -0.013916011899709702,
                        "pitch": -0.08509049564599991,
                        "yaw": -80.57923126220703
                    }
                },
                "velocity": {
                    "x": 1.0707550048828125,
                    "y": -6.363818168640137,
                    "z": 0.0016021442133933306
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.872220993041992,
                "transform": {
                    "location": {
                        "x": 971.0442504882812,
                        "y": 3583.977783203125,
                        "z": 370.51080322265625
                    },
                    "rotation": {
                        "roll": 0.008697565644979477,
                        "pitch": 0.5363951921463013,
                        "yaw": -170.52792358398438
                    }
                },
                "velocity": {
                    "x": -5.792759895324707,
                    "y": -0.9605600237846375,
                    "z": 0.06507860124111176
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.0991821289062,
                        "y": 3457.55615234375,
                        "z": 370.5725402832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.39842700958252,
                "transform": {
                    "location": {
                        "x": 943.6056518554688,
                        "y": 3527.022216796875,
                        "z": 370.81549072265625
                    },
                    "rotation": {
                        "roll": -0.00036620997707359493,
                        "pitch": -0.14324955642223358,
                        "yaw": -80.85918426513672
                    }
                },
                "velocity": {
                    "x": 2.1274678707122803,
                    "y": -13.228400230407715,
                    "z": -0.03373308479785919
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076423645019531,
                "transform": {
                    "location": {
                        "x": 952.4425048828125,
                        "y": 3492.56494140625,
                        "z": 370.71435546875
                    },
                    "rotation": {
                        "roll": 8.893980702850968e-05,
                        "pitch": -0.2123095840215683,
                        "yaw": -80.83586120605469
                    }
                },
                "velocity": {
                    "x": 1.284537672996521,
                    "y": -7.9735636711120605,
                    "z": -0.029392046853899956
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.386159896850586,
                "transform": {
                    "location": {
                        "x": 945.6946411132812,
                        "y": 3534.49609375,
                        "z": 370.8275451660156
                    },
                    "rotation": {
                        "roll": 0.0009533232660032809,
                        "pitch": -0.1088322252035141,
                        "yaw": -80.8565902709961
                    }
                },
                "velocity": {
                    "x": 2.1278412342071533,
                    "y": -13.215927124023438,
                    "z": -0.02870391309261322
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.5509033203125,
                        "y": 3475.203369140625,
                        "z": 370.64593505859375
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.019991874694824,
                "transform": {
                    "location": {
                        "x": 945.984130859375,
                        "y": 3490.520751953125,
                        "z": 370.70556640625
                    },
                    "rotation": {
                        "roll": -0.0003356952511239797,
                        "pitch": 0.20461879670619965,
                        "yaw": 99.14230346679688
                    }
                },
                "velocity": {
                    "x": -1.2742478847503662,
                    "y": 7.918065547943115,
                    "z": 0.028284501284360886
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075242042541504,
                "transform": {
                    "location": {
                        "x": 949.5942993164062,
                        "y": 3489.80615234375,
                        "z": 370.6910095214844
                    },
                    "rotation": {
                        "roll": -0.0001220770791405812,
                        "pitch": -0.20779483020305634,
                        "yaw": -80.85569763183594
                    }
                },
                "velocity": {
                    "x": 1.2832553386688232,
                    "y": -7.972573280334473,
                    "z": -0.02953144535422325
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6157069206237793,
                "transform": {
                    "location": {
                        "x": 932.2723388671875,
                        "y": 3555.259521484375,
                        "z": 370.8722839355469
                    },
                    "rotation": {
                        "roll": -0.0019836414139717817,
                        "pitch": 0.0768396258354187,
                        "yaw": 99.01502227783203
                    }
                },
                "velocity": {
                    "x": -0.24980780482292175,
                    "y": 1.5962780714035034,
                    "z": 0.001173152937553823
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0005498200189322233,
                "transform": {
                    "location": {
                        "x": 930.6834106445312,
                        "y": 3565.03369140625,
                        "z": 370.8741760253906
                    },
                    "rotation": {
                        "roll": -0.00012207300460431725,
                        "pitch": 0.05120592564344406,
                        "yaw": 99.35916900634766
                    }
                },
                "velocity": {
                    "x": 7.399193691526307e-06,
                    "y": -1.091155172616709e-05,
                    "z": 0.0005496619269251823
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.9730224609375,
                        "y": 3460.15283203125,
                        "z": 370.58197021484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.037335395812988,
                "transform": {
                    "location": {
                        "x": 942.4697265625,
                        "y": 3512.357666015625,
                        "z": 370.7754211425781
                    },
                    "rotation": {
                        "roll": 0.00037612870801240206,
                        "pitch": 0.1574016958475113,
                        "yaw": 99.15614318847656
                    }
                },
                "velocity": {
                    "x": -1.2763267755508423,
                    "y": 7.935320854187012,
                    "z": 0.020767221227288246
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.077256202697754,
                "transform": {
                    "location": {
                        "x": 939.3112182617188,
                        "y": 3531.989501953125,
                        "z": 370.8323669433594
                    },
                    "rotation": {
                        "roll": 0.0008321376517415047,
                        "pitch": 0.12137245386838913,
                        "yaw": 99.12483215332031
                    }
                },
                "velocity": {
                    "x": -1.2838528156280518,
                    "y": 7.974553108215332,
                    "z": 0.01711338944733143
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.434232234954834,
                "transform": {
                    "location": {
                        "x": 935.8670043945312,
                        "y": 3553.385009765625,
                        "z": 370.86517333984375
                    },
                    "rotation": {
                        "roll": 0.000595427118241787,
                        "pitch": 0.029253698885440826,
                        "yaw": 99.15837860107422
                    }
                },
                "velocity": {
                    "x": -1.0214191675186157,
                    "y": 6.352637767791748,
                    "z": 0.006150312256067991
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05180324614048004,
        "expert_target_speed": 0.6068364184967233,
        "target_point": [
            24.72051923817297,
            -0.31509108409203845
        ],
        "target_point_next": [
            43.21787545636194,
            -0.6224971704725277
        ]
    },
    "570": {
        "acceleration": [
            -0.01077137142419815,
            0.019955579191446304,
            -0.0006090430542826653
        ],
        "angular_velocity": [
            3.5969038009643555,
            0.6258777379989624,
            -0.002475588582456112
        ],
        "forward_vector": [
            -0.1752648949623108,
            0.9844086170196533,
            -0.014897032640874386
        ],
        "right_vector": [
            -0.9845178127288818,
            -0.17528469860553741,
            -2.3819504349376075e-05
        ],
        "location": [
            934.0948486328125,
            3545.177734375,
            370.85394287109375
        ],
        "rotation": [
            0.0013649085303768516,
            -0.8535686731338501,
            100.09520721435547
        ],
        "velocity": [
            0.0017324736109003425,
            -0.01106264442205429,
            0.0016272844513878226
        ],
        "speed": 0.011197480360388,
        "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": 10.360126495361328,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.2543334960938,
                3555.373046875,
                370.8720703125
            ],
            "velocity": [
                -0.12702974677085876,
                0.7889979481697083,
                0.0023614501114934683
            ],
            "speed_kmh": 2.876983184195886,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 880.44921875,
                        "y": 3572.22021484375,
                        "z": 371.6766357421875
                    },
                    "rotation": {
                        "roll": -3.3351124084646244e-09,
                        "pitch": -0.3413386940956116,
                        "yaw": 9.140239715576172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4031413793563843,
                "transform": {
                    "location": {
                        "x": 986.4248046875,
                        "y": 3586.568603515625,
                        "z": 370.2845153808594
                    },
                    "rotation": {
                        "roll": -0.0001525847619632259,
                        "pitch": 0.7409115433692932,
                        "yaw": -170.74766540527344
                    }
                },
                "velocity": {
                    "x": -0.0050803194753825665,
                    "y": -0.0006946183857508004,
                    "z": -0.40310877561569214
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.4149780273438,
                        "y": 3443.166259765625,
                        "z": 370.59381103515625
                    },
                    "rotation": {
                        "roll": -1.334041321854329e-08,
                        "pitch": 0.31337589025497437,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.7645874023438,
                        "y": 3626.631103515625,
                        "z": 370.8889465332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.5806274414062,
                        "y": 3625.96142578125,
                        "z": 370.8885498046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.442750930786133,
                "transform": {
                    "location": {
                        "x": 933.239501953125,
                        "y": 3611.3515625,
                        "z": 370.8951416015625
                    },
                    "rotation": {
                        "roll": -0.0181884765625,
                        "pitch": -0.009555433876812458,
                        "yaw": -80.4382553100586
                    }
                },
                "velocity": {
                    "x": 1.087712049484253,
                    "y": -6.3502655029296875,
                    "z": 0.007007894571870565
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.611282825469971,
                "transform": {
                    "location": {
                        "x": 895.8731079101562,
                        "y": 3574.795654296875,
                        "z": 371.18585205078125
                    },
                    "rotation": {
                        "roll": 1.699584026937373e-05,
                        "pitch": -0.39788582921028137,
                        "yaw": 9.25678825378418
                    }
                },
                "velocity": {
                    "x": 7.512537479400635,
                    "y": 1.2209243774414062,
                    "z": -0.05243402346968651
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.2118377685546875,
                "transform": {
                    "location": {
                        "x": 930.0252075195312,
                        "y": 3610.904296875,
                        "z": 370.8890686035156
                    },
                    "rotation": {
                        "roll": -0.007843016646802425,
                        "pitch": 0.0035790188703686,
                        "yaw": -80.38042449951172
                    }
                },
                "velocity": {
                    "x": 1.0443435907363892,
                    "y": -6.123419761657715,
                    "z": 0.0025043010246008635
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.2240166664123535,
                "transform": {
                    "location": {
                        "x": 969.502685546875,
                        "y": 3583.72314453125,
                        "z": 370.5281982421875
                    },
                    "rotation": {
                        "roll": 0.007370586507022381,
                        "pitch": 0.815326452255249,
                        "yaw": -170.60057067871094
                    }
                },
                "velocity": {
                    "x": -7.127320289611816,
                    "y": -1.1753284931182861,
                    "z": 0.07952462881803513
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.7681884765625,
                        "y": 3459.61279296875,
                        "z": 370.58197021484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.398548126220703,
                "transform": {
                    "location": {
                        "x": 944.1376342773438,
                        "y": 3523.715576171875,
                        "z": 370.80694580078125
                    },
                    "rotation": {
                        "roll": -0.00048828008584678173,
                        "pitch": -0.14697200059890747,
                        "yaw": -80.86289978027344
                    }
                },
                "velocity": {
                    "x": 2.1281678676605225,
                    "y": -13.228411674499512,
                    "z": -0.03342156857252121
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0769624710083,
                "transform": {
                    "location": {
                        "x": 952.7637329101562,
                        "y": 3490.571533203125,
                        "z": 370.70703125
                    },
                    "rotation": {
                        "roll": 0.0016720066778361797,
                        "pitch": -0.2094135880470276,
                        "yaw": -80.86579132080078
                    }
                },
                "velocity": {
                    "x": 1.2829524278640747,
                    "y": -7.974365234375,
                    "z": -0.02921493537724018
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.379227638244629,
                "transform": {
                    "location": {
                        "x": 946.226318359375,
                        "y": 3531.193359375,
                        "z": 370.81988525390625
                    },
                    "rotation": {
                        "roll": 0.0011667251819744706,
                        "pitch": -0.1409614384174347,
                        "yaw": -80.8546371459961
                    }
                },
                "velocity": {
                    "x": 2.1257808208465576,
                    "y": -13.209229469299316,
                    "z": -0.03187790885567665
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.613148212432861,
                "transform": {
                    "location": {
                        "x": 948.2379760742188,
                        "y": 3477.145751953125,
                        "z": 370.6537780761719
                    },
                    "rotation": {
                        "roll": 0.0033822914119809866,
                        "pitch": 0.3235665261745453,
                        "yaw": 99.1578369140625
                    }
                },
                "velocity": {
                    "x": -1.0640699863433838,
                    "y": 6.52687406539917,
                    "z": 0.03738539665937424
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.069891929626465,
                "transform": {
                    "location": {
                        "x": 945.6643676757812,
                        "y": 3492.5078125,
                        "z": 370.71282958984375
                    },
                    "rotation": {
                        "roll": -0.000610352260991931,
                        "pitch": 0.21253497898578644,
                        "yaw": 99.14335632324219
                    }
                },
                "velocity": {
                    "x": -1.2823470830917358,
                    "y": 7.9672980308532715,
                    "z": 0.030024051666259766
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023186683654785,
                "transform": {
                    "location": {
                        "x": 949.913818359375,
                        "y": 3487.8193359375,
                        "z": 370.68365478515625
                    },
                    "rotation": {
                        "roll": 3.10362120217178e-05,
                        "pitch": -0.20972095429897308,
                        "yaw": -80.86421966552734
                    }
                },
                "velocity": {
                    "x": 1.2738866806030273,
                    "y": -7.921356201171875,
                    "z": -0.0292340274900198
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7991620302200317,
                "transform": {
                    "location": {
                        "x": 932.2543334960938,
                        "y": 3555.373046875,
                        "z": 370.8720703125
                    },
                    "rotation": {
                        "roll": -3.0515804610331543e-05,
                        "pitch": 0.12019082903862,
                        "yaw": 98.99851989746094
                    }
                },
                "velocity": {
                    "x": -0.12702974677085876,
                    "y": 0.7889979481697083,
                    "z": 0.0023614501114934683
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00025927816750481725,
                "transform": {
                    "location": {
                        "x": 930.6834106445312,
                        "y": 3565.03369140625,
                        "z": 370.8741760253906
                    },
                    "rotation": {
                        "roll": -0.00018310784071218222,
                        "pitch": 0.05219630151987076,
                        "yaw": 99.35916900634766
                    }
                },
                "velocity": {
                    "x": 3.754839053726755e-05,
                    "y": 1.566827268106863e-05,
                    "z": 0.00025606597773730755
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.6537475585938,
                        "y": 3462.13671875,
                        "z": 370.5906677246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.063867568969727,
                "transform": {
                    "location": {
                        "x": 942.149658203125,
                        "y": 3514.3466796875,
                        "z": 370.7809143066406
                    },
                    "rotation": {
                        "roll": -0.0010070833377540112,
                        "pitch": 0.16147249937057495,
                        "yaw": 99.1279296875
                    }
                },
                "velocity": {
                    "x": -1.2816489934921265,
                    "y": 7.961337566375732,
                    "z": 0.020977267995476723
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.049077033996582,
                "transform": {
                    "location": {
                        "x": 938.990234375,
                        "y": 3533.984375,
                        "z": 370.836669921875
                    },
                    "rotation": {
                        "roll": -0.0004882860812358558,
                        "pitch": 0.11374996602535248,
                        "yaw": 99.16780853271484
                    }
                },
                "velocity": {
                    "x": -1.2822142839431763,
                    "y": 7.946274757385254,
                    "z": 0.01708100363612175
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.203628063201904,
                "transform": {
                    "location": {
                        "x": 935.6163330078125,
                        "y": 3554.942626953125,
                        "z": 370.8668518066406
                    },
                    "rotation": {
                        "roll": -0.0003356931556481868,
                        "pitch": 0.029554227367043495,
                        "yaw": 99.12560272216797
                    }
                },
                "velocity": {
                    "x": -0.9862682819366455,
                    "y": 6.1247239112854,
                    "z": 0.005768689792603254
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05315673351287842,
        "expert_target_speed": 0.6231238183968217,
        "target_point": [
            24.715067440901624,
            -0.3153161911641642
        ],
        "target_point_next": [
            43.21242035991649,
            -0.6229207326293578
        ]
    },
    "575": {
        "acceleration": [
            -0.1393865942955017,
            0.8694500923156738,
            -0.0016744621098041534
        ],
        "angular_velocity": [
            1.5864737033843994,
            0.2803444564342499,
            -0.7212861776351929
        ],
        "forward_vector": [
            -0.1751791089773178,
            0.9845291972160339,
            -0.00381158827804029
        ],
        "right_vector": [
            -0.984536349773407,
            -0.17518053948879242,
            -4.351278403191827e-05
        ],
        "location": [
            934.0923461914062,
            3545.1923828125,
            370.85174560546875
        ],
        "rotation": [
            0.00249311700463295,
            -0.21838845312595367,
            100.08915710449219
        ],
        "velocity": [
            -0.009927303530275822,
            0.06145007908344269,
            0.001644039060920477
        ],
        "speed": 0.06224679569860273,
        "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": 10.662928581237793,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.2041015625,
                3555.686767578125,
                370.87353515625
            ],
            "velocity": [
                -0.2689073383808136,
                1.6730294227600098,
                0.0023217867128551006
            ],
            "speed_kmh": 6.100214602607906,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2590807676315308,
                "transform": {
                    "location": {
                        "x": 880.44873046875,
                        "y": 3572.22021484375,
                        "z": 371.2910461425781
                    },
                    "rotation": {
                        "roll": -0.0007934586028568447,
                        "pitch": -0.34533435106277466,
                        "yaw": 9.140263557434082
                    }
                },
                "velocity": {
                    "x": -0.007093479856848717,
                    "y": -0.0014615848194807768,
                    "z": -1.2590599060058594
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.12855704128742218,
                "transform": {
                    "location": {
                        "x": 986.4249877929688,
                        "y": 3586.568603515625,
                        "z": 370.30120849609375
                    },
                    "rotation": {
                        "roll": 0.0004108727735001594,
                        "pitch": 0.7400031685829163,
                        "yaw": -170.74778747558594
                    }
                },
                "velocity": {
                    "x": -0.0006576061132363975,
                    "y": 0.0008045613649301231,
                    "z": 0.12855283915996552
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.084716796875,
                        "y": 3445.218017578125,
                        "z": 370.5138244628906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.0165405273438,
                        "y": 3625.065185546875,
                        "z": 370.8846740722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.8248291015625,
                        "y": 3624.444091796875,
                        "z": 370.8844299316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.586939811706543,
                "transform": {
                    "location": {
                        "x": 933.5025634765625,
                        "y": 3609.814208984375,
                        "z": 370.8956604003906
                    },
                    "rotation": {
                        "roll": -0.0047607421875,
                        "pitch": 0.020183207467198372,
                        "yaw": -80.2750473022461
                    }
                },
                "velocity": {
                    "x": 0.9504313468933105,
                    "y": -5.505504131317139,
                    "z": 0.0016518497141078115
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.364549160003662,
                "transform": {
                    "location": {
                        "x": 897.71826171875,
                        "y": 3575.094970703125,
                        "z": 371.17291259765625
                    },
                    "rotation": {
                        "roll": 0.001241327845491469,
                        "pitch": -0.40542635321617126,
                        "yaw": 9.211709022521973
                    }
                },
                "velocity": {
                    "x": 7.269636154174805,
                    "y": 1.1773663759231567,
                    "z": -0.05277387052774429
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.584253787994385,
                "transform": {
                    "location": {
                        "x": 930.2819213867188,
                        "y": 3609.404541015625,
                        "z": 370.8899230957031
                    },
                    "rotation": {
                        "roll": -0.0039062537252902985,
                        "pitch": -0.06967475265264511,
                        "yaw": -80.29637145996094
                    }
                },
                "velocity": {
                    "x": 0.9443817734718323,
                    "y": -5.503819465637207,
                    "z": 0.002349758055061102
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.437045097351074,
                "transform": {
                    "location": {
                        "x": 967.6094970703125,
                        "y": 3583.4111328125,
                        "z": 370.5484924316406
                    },
                    "rotation": {
                        "roll": 0.003820142475888133,
                        "pitch": 0.6925333142280579,
                        "yaw": -170.63980102539062
                    }
                },
                "velocity": {
                    "x": -7.337864398956299,
                    "y": -1.2079538106918335,
                    "z": 0.07897397875785828
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.437255859375,
                        "y": 3461.6689453125,
                        "z": 370.5909423828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.398430824279785,
                "transform": {
                    "location": {
                        "x": 944.6697387695312,
                        "y": 3520.408935546875,
                        "z": 370.7980651855469
                    },
                    "rotation": {
                        "roll": -0.0008544971933588386,
                        "pitch": -0.1571967899799347,
                        "yaw": -80.85710144042969
                    }
                },
                "velocity": {
                    "x": 2.128190517425537,
                    "y": -13.228280067443848,
                    "z": -0.03681838884949684
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076848030090332,
                "transform": {
                    "location": {
                        "x": 953.0842895507812,
                        "y": 3488.578125,
                        "z": 370.6995544433594
                    },
                    "rotation": {
                        "roll": 0.0002086356544168666,
                        "pitch": -0.2097482681274414,
                        "yaw": -80.84666442871094
                    }
                },
                "velocity": {
                    "x": 1.2831192016601562,
                    "y": -7.974221706390381,
                    "z": -0.02947484888136387
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.379972457885742,
                "transform": {
                    "location": {
                        "x": 946.7575073242188,
                        "y": 3527.890869140625,
                        "z": 370.8114318847656
                    },
                    "rotation": {
                        "roll": 0.0016165853012353182,
                        "pitch": -0.14221136271953583,
                        "yaw": -80.8679428100586
                    }
                },
                "velocity": {
                    "x": 2.124509334564209,
                    "y": -13.210185050964355,
                    "z": -0.033731140196323395
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.642283916473389,
                "transform": {
                    "location": {
                        "x": 948.0045166015625,
                        "y": 3478.523681640625,
                        "z": 370.6618347167969
                    },
                    "rotation": {
                        "roll": 0.014196790754795074,
                        "pitch": 0.34414589405059814,
                        "yaw": 99.51250457763672
                    }
                },
                "velocity": {
                    "x": -0.9791409373283386,
                    "y": 5.55660343170166,
                    "z": 0.028441723436117172
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.03848648071289,
                "transform": {
                    "location": {
                        "x": 945.3443603515625,
                        "y": 3494.49609375,
                        "z": 370.71990966796875
                    },
                    "rotation": {
                        "roll": -0.0007934672175906599,
                        "pitch": 0.1981915831565857,
                        "yaw": 99.1432876586914
                    }
                },
                "velocity": {
                    "x": -1.277294397354126,
                    "y": 7.936304092407227,
                    "z": 0.029317082837224007
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.073434829711914,
                "transform": {
                    "location": {
                        "x": 950.2332763671875,
                        "y": 3485.832763671875,
                        "z": 370.67596435546875
                    },
                    "rotation": {
                        "roll": -3.0515973776346073e-05,
                        "pitch": -0.22595630586147308,
                        "yaw": -80.86439514160156
                    }
                },
                "velocity": {
                    "x": 1.281769037246704,
                    "y": -7.970976829528809,
                    "z": -0.030685648322105408
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6945041418075562,
                "transform": {
                    "location": {
                        "x": 932.2041015625,
                        "y": 3555.686767578125,
                        "z": 370.87353515625
                    },
                    "rotation": {
                        "roll": 0.000771901395637542,
                        "pitch": -0.008728981018066406,
                        "yaw": 99.02262115478516
                    }
                },
                "velocity": {
                    "x": -0.2689073383808136,
                    "y": 1.6730294227600098,
                    "z": 0.0023217867128551006
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00035537907388061285,
                "transform": {
                    "location": {
                        "x": 930.6834106445312,
                        "y": 3565.03369140625,
                        "z": 370.8741760253906
                    },
                    "rotation": {
                        "roll": 9.826070890994743e-05,
                        "pitch": 0.0523533970117569,
                        "yaw": 99.35916900634766
                    }
                },
                "velocity": {
                    "x": -6.370682240230963e-05,
                    "y": 8.868155418895185e-06,
                    "z": 0.00034950979170389473
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.4020385742188,
                        "y": 3463.700439453125,
                        "z": 370.5974426269531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.038534164428711,
                "transform": {
                    "location": {
                        "x": 941.830078125,
                        "y": 3516.333251953125,
                        "z": 370.78643798828125
                    },
                    "rotation": {
                        "roll": -0.0003051851817872375,
                        "pitch": 0.1570533663034439,
                        "yaw": 99.15473937988281
                    }
                },
                "velocity": {
                    "x": -1.2764642238616943,
                    "y": 7.936512470245361,
                    "z": 0.02092217467725277
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.010293006896973,
                "transform": {
                    "location": {
                        "x": 938.671142578125,
                        "y": 3535.963134765625,
                        "z": 370.8406982421875
                    },
                    "rotation": {
                        "roll": -0.000488272838992998,
                        "pitch": 0.1192004531621933,
                        "yaw": 99.13066864013672
                    }
                },
                "velocity": {
                    "x": -1.2713303565979004,
                    "y": 7.908742904663086,
                    "z": 0.017267407849431038
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.999819755554199,
                "transform": {
                    "location": {
                        "x": 935.3741455078125,
                        "y": 3556.447509765625,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": -0.00027465668972581625,
                        "pitch": 0.032279472798109055,
                        "yaw": 99.16737365722656
                    }
                },
                "velocity": {
                    "x": -0.9531885385513306,
                    "y": 5.923616409301758,
                    "z": 0.006146020721644163
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05628432705998421,
        "expert_target_speed": 0.7324666354700586,
        "target_point": [
            24.700240308655545,
            -0.31260342495726245
        ],
        "target_point_next": [
            43.19762561351358,
            -0.6182542848285122
        ]
    },
    "580": {
        "acceleration": [
            -0.2600288391113281,
            1.4140671491622925,
            -0.011385343968868256
        ],
        "angular_velocity": [
            0.666764497756958,
            0.12796220183372498,
            -0.7048977017402649
        ],
        "forward_vector": [
            -0.1751091331243515,
            0.9845470190048218,
            0.0020186887122690678
        ],
        "right_vector": [
            -0.9845489859580994,
            -0.1751093715429306,
            -6.0180722357472405e-05
        ],
        "location": [
            934.0798950195312,
            3545.264892578125,
            370.8507080078125
        ],
        "rotation": [
            0.0034481084439903498,
            0.11566241830587387,
            100.08502960205078
        ],
        "velocity": [
            -0.08619578927755356,
            0.49762678146362305,
            0.0014440345112234354
        ],
        "speed": 0.5050367587800167,
        "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": 10.916703224182129,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.152099609375,
                3556.010009765625,
                370.8722229003906
            ],
            "velocity": [
                -0.0002945986052509397,
                0.0016698949038982391,
                0.0009573797578923404
            ],
            "speed_kmh": 0.007010220877060596,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.13963726162910461,
                "transform": {
                    "location": {
                        "x": 880.4484252929688,
                        "y": 3572.22021484375,
                        "z": 371.2362365722656
                    },
                    "rotation": {
                        "roll": -0.000549315067473799,
                        "pitch": -0.34827134013175964,
                        "yaw": 9.140223503112793
                    }
                },
                "velocity": {
                    "x": 0.0008164355531334877,
                    "y": 0.0001377513399347663,
                    "z": 0.13963480293750763
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.759774923324585,
                "transform": {
                    "location": {
                        "x": 986.1567993164062,
                        "y": 3586.521240234375,
                        "z": 370.32177734375
                    },
                    "rotation": {
                        "roll": -0.00994872860610485,
                        "pitch": 0.9878638386726379,
                        "yaw": -170.60960388183594
                    }
                },
                "velocity": {
                    "x": -1.731763243675232,
                    "y": -0.3083571791648865,
                    "z": 0.05214957892894745
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.75390625,
                        "y": 3447.2744140625,
                        "z": 370.52301025390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.19091796875,
                        "y": 3623.982666015625,
                        "z": 370.8817443847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.0415649414062,
                        "y": 3623.0966796875,
                        "z": 370.8825988769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.845757961273193,
                "transform": {
                    "location": {
                        "x": 933.7084350585938,
                        "y": 3608.6142578125,
                        "z": 370.89801025390625
                    },
                    "rotation": {
                        "roll": 0.012938730418682098,
                        "pitch": -0.2381618469953537,
                        "yaw": -80.2728271484375
                    }
                },
                "velocity": {
                    "x": 0.804945707321167,
                    "y": -4.778433322906494,
                    "z": 0.002555627841502428
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.07672119140625,
                "transform": {
                    "location": {
                        "x": 899.4984741210938,
                        "y": 3575.38330078125,
                        "z": 371.1603088378906
                    },
                    "rotation": {
                        "roll": 0.0011193995596840978,
                        "pitch": -0.4121950566768646,
                        "yaw": 9.19827651977539
                    }
                },
                "velocity": {
                    "x": 6.985532760620117,
                    "y": 1.1312768459320068,
                    "z": -0.05024932697415352
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.524526119232178,
                "transform": {
                    "location": {
                        "x": 930.5112915039062,
                        "y": 3608.061767578125,
                        "z": 370.8908996582031
                    },
                    "rotation": {
                        "roll": 0.006277549080550671,
                        "pitch": 0.005587094463407993,
                        "yaw": -80.32319641113281
                    }
                },
                "velocity": {
                    "x": 0.9184857606887817,
                    "y": -5.447638511657715,
                    "z": 0.0025236797519028187
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.557639122009277,
                "transform": {
                    "location": {
                        "x": 965.900146484375,
                        "y": 3583.1298828125,
                        "z": 370.5666198730469
                    },
                    "rotation": {
                        "roll": 0.0029866343829780817,
                        "pitch": 0.48656216263771057,
                        "yaw": -170.6613311767578
                    }
                },
                "velocity": {
                    "x": -6.470735549926758,
                    "y": -1.0618339776992798,
                    "z": 0.06868179142475128
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.1063842773438,
                        "y": 3463.725341796875,
                        "z": 370.5998229980469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.398502349853516,
                "transform": {
                    "location": {
                        "x": 945.2017822265625,
                        "y": 3517.1025390625,
                        "z": 370.788818359375
                    },
                    "rotation": {
                        "roll": 0.00034736041561700404,
                        "pitch": -0.156950905919075,
                        "yaw": -80.86271667480469
                    }
                },
                "velocity": {
                    "x": 2.1283562183380127,
                    "y": -13.228325843811035,
                    "z": -0.03681585565209389
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076778411865234,
                "transform": {
                    "location": {
                        "x": 953.4052124023438,
                        "y": 3486.5849609375,
                        "z": 370.69195556640625
                    },
                    "rotation": {
                        "roll": 0.0005136087420396507,
                        "pitch": -0.2242419272661209,
                        "yaw": -80.87559509277344
                    }
                },
                "velocity": {
                    "x": 1.2814921140670776,
                    "y": -7.974412441253662,
                    "z": -0.0295717753469944
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.381162643432617,
                "transform": {
                    "location": {
                        "x": 947.2887573242188,
                        "y": 3524.588134765625,
                        "z": 370.80291748046875
                    },
                    "rotation": {
                        "roll": -0.00012206999235786498,
                        "pitch": -0.1426689773797989,
                        "yaw": -80.85679626464844
                    }
                },
                "velocity": {
                    "x": 2.125364065170288,
                    "y": -13.211252212524414,
                    "z": -0.03415849432349205
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.363435745239258,
                "transform": {
                    "location": {
                        "x": 947.7698974609375,
                        "y": 3479.87744140625,
                        "z": 370.6686706542969
                    },
                    "rotation": {
                        "roll": -0.004699705634266138,
                        "pitch": 0.24327082931995392,
                        "yaw": 99.71208190917969
                    }
                },
                "velocity": {
                    "x": -0.8966173529624939,
                    "y": 5.287916660308838,
                    "z": 0.02145843394100666
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052976608276367,
                "transform": {
                    "location": {
                        "x": 945.0250854492188,
                        "y": 3496.481201171875,
                        "z": 370.7268371582031
                    },
                    "rotation": {
                        "roll": 0.0018487432971596718,
                        "pitch": 0.1876526027917862,
                        "yaw": 99.13754272460938
                    }
                },
                "velocity": {
                    "x": -1.2782166004180908,
                    "y": 7.950841426849365,
                    "z": 0.026723699644207954
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024829864501953,
                "transform": {
                    "location": {
                        "x": 950.5529174804688,
                        "y": 3483.845947265625,
                        "z": 370.6680908203125
                    },
                    "rotation": {
                        "roll": -0.00027466382016427815,
                        "pitch": -0.22900256514549255,
                        "yaw": -80.86071014404297
                    }
                },
                "velocity": {
                    "x": 1.2746282815933228,
                    "y": -7.922889232635498,
                    "z": -0.032361000776290894
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001947283511981368,
                "transform": {
                    "location": {
                        "x": 932.152099609375,
                        "y": 3556.010009765625,
                        "z": 370.8722229003906
                    },
                    "rotation": {
                        "roll": -0.00021362467668950558,
                        "pitch": 0.19103355705738068,
                        "yaw": 99.0245361328125
                    }
                },
                "velocity": {
                    "x": -0.0002945986052509397,
                    "y": 0.0016698949038982391,
                    "z": 0.0009573797578923404
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.753803998231888e-05,
                "transform": {
                    "location": {
                        "x": 930.6834106445312,
                        "y": 3565.03369140625,
                        "z": 370.8741760253906
                    },
                    "rotation": {
                        "roll": 9.826070890994743e-05,
                        "pitch": 0.0523533970117569,
                        "yaw": 99.35916900634766
                    }
                },
                "velocity": {
                    "x": -5.727497409679927e-05,
                    "y": 5.138013420946663e-06,
                    "z": -1.9505330328684067e-06
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 950.1825561523438,
                        "y": 3465.065185546875,
                        "z": 370.603271484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049903869628906,
                "transform": {
                    "location": {
                        "x": 941.5107421875,
                        "y": 3518.318603515625,
                        "z": 370.79193115234375
                    },
                    "rotation": {
                        "roll": -0.0002136309922207147,
                        "pitch": 0.15932781994342804,
                        "yaw": 99.12274169921875
                    }
                },
                "velocity": {
                    "x": -1.278730869293213,
                    "y": 7.9476637840271,
                    "z": 0.020883025601506233
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.040966033935547,
                "transform": {
                    "location": {
                        "x": 938.3524169921875,
                        "y": 3537.944580078125,
                        "z": 370.8448486328125
                    },
                    "rotation": {
                        "roll": -0.00030517129926010966,
                        "pitch": 0.1143236979842186,
                        "yaw": 99.16509246826172
                    }
                },
                "velocity": {
                    "x": -1.278120994567871,
                    "y": 7.938716888427734,
                    "z": 0.017364071682095528
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.792938709259033,
                "transform": {
                    "location": {
                        "x": 935.1401977539062,
                        "y": 3557.90185546875,
                        "z": 370.8702697753906
                    },
                    "rotation": {
                        "roll": -0.00012206796964164823,
                        "pitch": 0.032655131071805954,
                        "yaw": 99.1260757446289
                    }
                },
                "velocity": {
                    "x": -0.920037567615509,
                    "y": 5.719408988952637,
                    "z": 0.005484428256750107
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.059875741600990295,
        "expert_target_speed": 1.169976267478134,
        "target_point": [
            24.626693093664315,
            -0.31038072206501166
        ],
        "target_point_next": [
            43.124100430727474,
            -0.614695314682459
        ]
    },
    "585": {
        "acceleration": [
            -0.4015734791755676,
            2.3806285858154297,
            0.01075897179543972
        ],
        "angular_velocity": [
            0.359566330909729,
            0.05168706178665161,
            0.0037530153058469296
        ],
        "forward_vector": [
            -0.17413102090358734,
            0.9847128391265869,
            0.0043592313304543495
        ],
        "right_vector": [
            -0.9847222566604614,
            -0.17413230240345,
            -8.683744090376422e-05
        ],
        "location": [
            934.0463256835938,
            3545.4599609375,
            370.8504943847656
        ],
        "rotation": [
            0.0049754660576581955,
            0.24976634979248047,
            100.02819061279297
        ],
        "velocity": [
            -0.17284005880355835,
            1.0123647451400757,
            0.0017656325362622738
        ],
        "speed": 1.0270131757332754,
        "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": 10.718282699584961,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.1521606445312,
                3556.009521484375,
                370.872802734375
            ],
            "velocity": [
                6.978783494560048e-05,
                -0.0005372626474127173,
                0.0011979994596913457
            ],
            "speed_kmh": 0.004733314444153447,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.188949465751648,
                "transform": {
                    "location": {
                        "x": 880.570068359375,
                        "y": 3572.240966796875,
                        "z": 371.2665100097656
                    },
                    "rotation": {
                        "roll": -0.007537841331213713,
                        "pitch": -0.05197090655565262,
                        "yaw": 9.143438339233398
                    }
                },
                "velocity": {
                    "x": 1.1693283319473267,
                    "y": 0.19849133491516113,
                    "z": 0.0829060897231102
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.2258799076080322,
                "transform": {
                    "location": {
                        "x": 985.536376953125,
                        "y": 3586.415283203125,
                        "z": 370.3330383300781
                    },
                    "rotation": {
                        "roll": 2.376273914705962e-05,
                        "pitch": 1.0273970365524292,
                        "yaw": -170.50640869140625
                    }
                },
                "velocity": {
                    "x": -3.1793386936187744,
                    "y": -0.5440391898155212,
                    "z": 0.046128854155540466
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.4229736328125,
                        "y": 3449.330810546875,
                        "z": 370.53253173828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29414206743240356,
                        "yaw": 99.14249420166016
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.384033203125,
                        "y": 3622.781494140625,
                        "z": 370.8825378417969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.27099609375,
                        "y": 3621.6708984375,
                        "z": 370.88330078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.297642707824707,
                "transform": {
                    "location": {
                        "x": 933.91943359375,
                        "y": 3607.36328125,
                        "z": 370.8963928222656
                    },
                    "rotation": {
                        "roll": 0.010395102202892303,
                        "pitch": 0.09613490849733353,
                        "yaw": -80.43022155761719
                    }
                },
                "velocity": {
                    "x": 0.8731069564819336,
                    "y": -5.225195407867432,
                    "z": 0.0057685659267008305
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.874261379241943,
                "transform": {
                    "location": {
                        "x": 901.218994140625,
                        "y": 3575.661376953125,
                        "z": 371.14801025390625
                    },
                    "rotation": {
                        "roll": 0.0012826110469177365,
                        "pitch": -0.4113754332065582,
                        "yaw": 9.177962303161621
                    }
                },
                "velocity": {
                    "x": 6.786289691925049,
                    "y": 1.0951547622680664,
                    "z": -0.048779457807540894
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.91282844543457,
                "transform": {
                    "location": {
                        "x": 930.7570190429688,
                        "y": 3606.596435546875,
                        "z": 370.89208984375
                    },
                    "rotation": {
                        "roll": 0.005219966173171997,
                        "pitch": 0.20799291133880615,
                        "yaw": -80.4524917602539
                    }
                },
                "velocity": {
                    "x": 1.1401293277740479,
                    "y": -6.8181586265563965,
                    "z": 0.0039262291975319386
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.554887294769287,
                "transform": {
                    "location": {
                        "x": 964.3020629882812,
                        "y": 3582.8681640625,
                        "z": 370.5837097167969
                    },
                    "rotation": {
                        "roll": 0.002450434025377035,
                        "pitch": 0.5756688117980957,
                        "yaw": -170.6885986328125
                    }
                },
                "velocity": {
                    "x": -6.4683403968811035,
                    "y": -1.0594277381896973,
                    "z": 0.0687788724899292
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.775390625,
                        "y": 3465.78173828125,
                        "z": 370.6085205078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.398515701293945,
                "transform": {
                    "location": {
                        "x": 945.7338256835938,
                        "y": 3513.795654296875,
                        "z": 370.77960205078125
                    },
                    "rotation": {
                        "roll": 0.0004542025562841445,
                        "pitch": -0.15628838539123535,
                        "yaw": -80.86149597167969
                    }
                },
                "velocity": {
                    "x": 2.1274335384368896,
                    "y": -13.228486061096191,
                    "z": -0.037634123116731644
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.077327728271484,
                "transform": {
                    "location": {
                        "x": 953.7255249023438,
                        "y": 3484.591796875,
                        "z": 370.6842346191406
                    },
                    "rotation": {
                        "roll": -0.0001220772828673944,
                        "pitch": -0.23273184895515442,
                        "yaw": -80.85240173339844
                    }
                },
                "velocity": {
                    "x": 1.2824139595031738,
                    "y": -7.974812030792236,
                    "z": -0.03179934248328209
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.381073951721191,
                "transform": {
                    "location": {
                        "x": 947.8203125,
                        "y": 3521.28564453125,
                        "z": 370.79412841796875
                    },
                    "rotation": {
                        "roll": -0.00186157354619354,
                        "pitch": -0.15551656484603882,
                        "yaw": -80.85602569580078
                    }
                },
                "velocity": {
                    "x": 2.1270031929016113,
                    "y": -13.210890769958496,
                    "z": -0.036973390728235245
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.593581199645996,
                "transform": {
                    "location": {
                        "x": 947.540771484375,
                        "y": 3481.229248046875,
                        "z": 370.67425537109375
                    },
                    "rotation": {
                        "roll": -0.0005798368947580457,
                        "pitch": 0.22718574106693268,
                        "yaw": 99.64846801757812
                    }
                },
                "velocity": {
                    "x": -0.9316508173942566,
                    "y": 5.515406608581543,
                    "z": 0.021671980619430542
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046403884887695,
                "transform": {
                    "location": {
                        "x": 944.7052001953125,
                        "y": 3498.46875,
                        "z": 370.73333740234375
                    },
                    "rotation": {
                        "roll": -0.0004882877692580223,
                        "pitch": 0.18910743296146393,
                        "yaw": 99.14195251464844
                    }
                },
                "velocity": {
                    "x": -1.2791409492492676,
                    "y": 7.944039344787598,
                    "z": 0.025440720841288567
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.074376106262207,
                "transform": {
                    "location": {
                        "x": 950.872802734375,
                        "y": 3481.85888671875,
                        "z": 370.6600341796875
                    },
                    "rotation": {
                        "roll": -0.0012512285029515624,
                        "pitch": -0.22802585363388062,
                        "yaw": -80.85307312011719
                    }
                },
                "velocity": {
                    "x": 1.2835867404937744,
                    "y": -7.971630573272705,
                    "z": -0.03267260640859604
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013148096622899175,
                "transform": {
                    "location": {
                        "x": 932.1521606445312,
                        "y": 3556.009521484375,
                        "z": 370.872802734375
                    },
                    "rotation": {
                        "roll": 0.000725609133951366,
                        "pitch": 0.1195419654250145,
                        "yaw": 99.0245132446289
                    }
                },
                "velocity": {
                    "x": 6.978783494560048e-05,
                    "y": -0.0005372626474127173,
                    "z": 0.0011979994596913457
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.6834106445312,
                        "y": 3565.03369140625,
                        "z": 370.8741760253906
                    },
                    "rotation": {
                        "roll": 9.826070890994743e-05,
                        "pitch": 0.0523533970117569,
                        "yaw": 99.35916900634766
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.9656982421875,
                        "y": 3466.4111328125,
                        "z": 370.60888671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050209999084473,
                "transform": {
                    "location": {
                        "x": 941.1908569335938,
                        "y": 3520.30615234375,
                        "z": 370.7974853515625
                    },
                    "rotation": {
                        "roll": 0.0007107492419891059,
                        "pitch": 0.15884287655353546,
                        "yaw": 99.16056060791016
                    }
                },
                "velocity": {
                    "x": -1.2788525819778442,
                    "y": 7.9479522705078125,
                    "z": 0.021517610177397728
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.033398628234863,
                "transform": {
                    "location": {
                        "x": 938.03271484375,
                        "y": 3539.928955078125,
                        "z": 370.8489685058594
                    },
                    "rotation": {
                        "roll": 0.0005030204192735255,
                        "pitch": 0.11640691012144089,
                        "yaw": 99.1269302368164
                    }
                },
                "velocity": {
                    "x": -1.2750986814498901,
                    "y": 7.9315409660339355,
                    "z": 0.01689250022172928
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.590821743011475,
                "transform": {
                    "location": {
                        "x": 934.9141845703125,
                        "y": 3559.30517578125,
                        "z": 370.8717346191406
                    },
                    "rotation": {
                        "roll": -0.0009765620343387127,
                        "pitch": 0.026931434869766235,
                        "yaw": 99.16983032226562
                    }
                },
                "velocity": {
                    "x": -0.8895095586776733,
                    "y": 5.519603252410889,
                    "z": 0.006159610580652952
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.058465540409088135,
        "expert_target_speed": 1.6111198659959298,
        "target_point": [
            24.429055160700614,
            -0.2850440064182225
        ],
        "target_point_next": [
            42.926755225369185,
            -0.5710123299756251
        ]
    },
    "590": {
        "acceleration": [
            -0.28578996658325195,
            1.7313075065612793,
            -0.0014257431030273438
        ],
        "angular_velocity": [
            0.12250997126102448,
            0.010178862139582634,
            0.7685338258743286
        ],
        "forward_vector": [
            -0.17384794354438782,
            0.9847544431686401,
            0.005966269876807928
        ],
        "right_vector": [
            -0.9847720861434937,
            -0.17385047674179077,
            -9.523378685116768e-05
        ],
        "location": [
            933.9884033203125,
            3545.798583984375,
            370.85076904296875
        ],
        "rotation": [
            0.00545659102499485,
            0.3418441116809845,
            100.01180267333984
        ],
        "velocity": [
            -0.28376924991607666,
            1.6636565923690796,
            0.0018072413513436913
        ],
        "speed": 1.6876842846133961,
        "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": 10.37451457977295,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.1521606445312,
                3556.00927734375,
                370.8731689453125
            ],
            "velocity": [
                8.66111004143022e-05,
                -8.386446279473603e-05,
                0.00013818520528730005
            ],
            "speed_kmh": 0.0006601842682651152,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.126587390899658,
                "transform": {
                    "location": {
                        "x": 880.9835815429688,
                        "y": 3572.310791015625,
                        "z": 371.2768249511719
                    },
                    "rotation": {
                        "roll": -0.013336180709302425,
                        "pitch": 0.06307679414749146,
                        "yaw": 9.287930488586426
                    }
                },
                "velocity": {
                    "x": 2.096123218536377,
                    "y": 0.35838189721107483,
                    "z": 0.014270982705056667
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.748202800750732,
                "transform": {
                    "location": {
                        "x": 984.5386352539062,
                        "y": 3586.244384765625,
                        "z": 370.346435546875
                    },
                    "rotation": {
                        "roll": -0.00012207020336063579,
                        "pitch": 1.0524705648422241,
                        "yaw": -170.3758087158203
                    }
                },
                "velocity": {
                    "x": -4.679160118103027,
                    "y": -0.8044303059577942,
                    "z": 0.06149376556277275
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.0919799804688,
                        "y": 3451.38720703125,
                        "z": 370.5428466796875
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.6382446289062,
                        "y": 3621.201416015625,
                        "z": 370.883544921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.5669555664062,
                        "y": 3619.831787109375,
                        "z": 370.88427734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.929357528686523,
                "transform": {
                    "location": {
                        "x": 934.1746826171875,
                        "y": 3605.841064453125,
                        "z": 370.8949890136719
                    },
                    "rotation": {
                        "roll": 0.003915563225746155,
                        "pitch": 0.4181714653968811,
                        "yaw": -80.60905456542969
                    }
                },
                "velocity": {
                    "x": 1.1392251253128052,
                    "y": -6.835066318511963,
                    "z": 0.005865525919944048
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.6659064292907715,
                "transform": {
                    "location": {
                        "x": 902.8823852539062,
                        "y": 3575.929931640625,
                        "z": 371.1358947753906
                    },
                    "rotation": {
                        "roll": 0.0001764290063874796,
                        "pitch": -0.4177889823913574,
                        "yaw": 9.162436485290527
                    }
                },
                "velocity": {
                    "x": 6.58088493347168,
                    "y": 1.0601385831832886,
                    "z": -0.048665016889572144
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.859755992889404,
                "transform": {
                    "location": {
                        "x": 931.0513916015625,
                        "y": 3604.83251953125,
                        "z": 370.8931579589844
                    },
                    "rotation": {
                        "roll": 0.0022980738431215286,
                        "pitch": 0.07731090486049652,
                        "yaw": -80.52580261230469
                    }
                },
                "velocity": {
                    "x": 1.1271443367004395,
                    "y": -6.766518592834473,
                    "z": 0.005023173987865448
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.393067836761475,
                "transform": {
                    "location": {
                        "x": 962.6876831054688,
                        "y": 3582.60400390625,
                        "z": 370.60076904296875
                    },
                    "rotation": {
                        "roll": 0.001647932454943657,
                        "pitch": 0.5739612579345703,
                        "yaw": -170.69862365722656
                    }
                },
                "velocity": {
                    "x": -6.308812618255615,
                    "y": -1.0324251651763916,
                    "z": 0.06555919349193573
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.4444580078125,
                        "y": 3467.838134765625,
                        "z": 370.61712646484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.398602485656738,
                "transform": {
                    "location": {
                        "x": 946.2659301757812,
                        "y": 3510.489013671875,
                        "z": 370.7702331542969
                    },
                    "rotation": {
                        "roll": -0.00057983462465927,
                        "pitch": -0.16225796937942505,
                        "yaw": -80.8580093383789
                    }
                },
                "velocity": {
                    "x": 2.1290903091430664,
                    "y": -13.228307723999023,
                    "z": -0.03733865171670914
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.077040672302246,
                "transform": {
                    "location": {
                        "x": 954.04638671875,
                        "y": 3482.59765625,
                        "z": 370.6761169433594
                    },
                    "rotation": {
                        "roll": -0.0003967277589254081,
                        "pitch": -0.22937139868736267,
                        "yaw": -80.87689971923828
                    }
                },
                "velocity": {
                    "x": 1.2825919389724731,
                    "y": -7.974485874176025,
                    "z": -0.03334026783704758
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.380890846252441,
                "transform": {
                    "location": {
                        "x": 948.3518676757812,
                        "y": 3517.982666015625,
                        "z": 370.7848205566406
                    },
                    "rotation": {
                        "roll": -0.0006408728077076375,
                        "pitch": -0.15505211055278778,
                        "yaw": -80.85325622558594
                    }
                },
                "velocity": {
                    "x": 2.1263487339019775,
                    "y": -13.210810661315918,
                    "z": -0.03712666034698486
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.103728771209717,
                "transform": {
                    "location": {
                        "x": 947.323486328125,
                        "y": 3482.514404296875,
                        "z": 370.6791687011719
                    },
                    "rotation": {
                        "roll": 0.002338748425245285,
                        "pitch": 0.25148072838783264,
                        "yaw": 99.62062072753906
                    }
                },
                "velocity": {
                    "x": -0.849979817867279,
                    "y": 5.032408237457275,
                    "z": 0.02121712639927864
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052800178527832,
                "transform": {
                    "location": {
                        "x": 944.3854370117188,
                        "y": 3500.45556640625,
                        "z": 370.7398681640625
                    },
                    "rotation": {
                        "roll": 0.0009369549225084484,
                        "pitch": 0.18895716965198517,
                        "yaw": 99.1441650390625
                    }
                },
                "velocity": {
                    "x": -1.2797812223434448,
                    "y": 7.950414180755615,
                    "z": 0.025697622448205948
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024201393127441,
                "transform": {
                    "location": {
                        "x": 951.1926879882812,
                        "y": 3479.872314453125,
                        "z": 370.6519775390625
                    },
                    "rotation": {
                        "roll": -0.0003967144002672285,
                        "pitch": -0.2285449504852295,
                        "yaw": -80.85191345214844
                    }
                },
                "velocity": {
                    "x": 1.2757517099380493,
                    "y": -7.9220709800720215,
                    "z": -0.0324045792222023
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00018338451627641916,
                "transform": {
                    "location": {
                        "x": 932.1521606445312,
                        "y": 3556.00927734375,
                        "z": 370.8731689453125
                    },
                    "rotation": {
                        "roll": 0.0006112423725426197,
                        "pitch": 0.07512524724006653,
                        "yaw": 99.02449798583984
                    }
                },
                "velocity": {
                    "x": 8.66111004143022e-05,
                    "y": -8.386446279473603e-05,
                    "z": 0.00013818520528730005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0840221419930458,
                "transform": {
                    "location": {
                        "x": 930.6827392578125,
                        "y": 3565.038330078125,
                        "z": 370.87408447265625
                    },
                    "rotation": {
                        "roll": 0.0008249959792010486,
                        "pitch": 0.06843849271535873,
                        "yaw": 99.36773681640625
                    }
                },
                "velocity": {
                    "x": -0.01373343076556921,
                    "y": 0.08289136737585068,
                    "z": 0.00036678314791060984
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.72802734375,
                        "y": 3467.887939453125,
                        "z": 370.6151123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046340942382812,
                "transform": {
                    "location": {
                        "x": 940.8713989257812,
                        "y": 3522.2919921875,
                        "z": 370.8028869628906
                    },
                    "rotation": {
                        "roll": 0.0011155260726809502,
                        "pitch": 0.15530483424663544,
                        "yaw": 99.12574768066406
                    }
                },
                "velocity": {
                    "x": -1.2786728143692017,
                    "y": 7.944063663482666,
                    "z": 0.02137742005288601
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.026922225952148,
                "transform": {
                    "location": {
                        "x": 937.7141723632812,
                        "y": 3541.910888671875,
                        "z": 370.85260009765625
                    },
                    "rotation": {
                        "roll": 0.0005028166924603283,
                        "pitch": 0.0994885265827179,
                        "yaw": 99.15880584716797
                    }
                },
                "velocity": {
                    "x": -1.2751128673553467,
                    "y": 7.924983978271484,
                    "z": 0.013714303262531757
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.404318809509277,
                "transform": {
                    "location": {
                        "x": 934.6959838867188,
                        "y": 3560.660888671875,
                        "z": 370.8731994628906
                    },
                    "rotation": {
                        "roll": -0.00012207045801915228,
                        "pitch": 0.021986378356814384,
                        "yaw": 99.12722778320312
                    }
                },
                "velocity": {
                    "x": -0.8585445880889893,
                    "y": 5.335684299468994,
                    "z": 0.006014804821461439
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0519670695066452,
        "expert_target_speed": 2.1229237702748702,
        "target_point": [
            24.085599169577954,
            -0.27624242840280555
        ],
        "target_point_next": [
            42.583380092618945,
            -0.5569317365332322
        ]
    },
    "595": {
        "acceleration": [
            -0.45441746711730957,
            2.6391983032226562,
            -0.0028842920437455177
        ],
        "angular_velocity": [
            0.04527054354548454,
            0.018196867778897285,
            -0.5044357776641846
        ],
        "forward_vector": [
            -0.17423750460147858,
            0.9846845865249634,
            0.006131848786026239
        ],
        "right_vector": [
            -0.9847030639648438,
            -0.17424069344997406,
            -1.510069614596432e-05
        ],
        "location": [
            933.9041748046875,
            3546.29150390625,
            370.8515625
        ],
        "rotation": [
            0.0008652224205434322,
            0.35133126378059387,
            100.03447723388672
        ],
        "velocity": [
            -0.3837326765060425,
            2.241323709487915,
            0.0023181915748864412
        ],
        "speed": 2.2739355174962985,
        "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": 9.874458312988281,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.1522216796875,
                3556.00927734375,
                370.87322998046875
            ],
            "velocity": [
                -1.551918830955401e-05,
                -1.9391998648643494e-05,
                0.0003295145579613745
            ],
            "speed_kmh": 0.0011896174737650333,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.299187183380127,
                "transform": {
                    "location": {
                        "x": 881.6454467773438,
                        "y": 3572.42333984375,
                        "z": 371.2762451171875
                    },
                    "rotation": {
                        "roll": -0.013702393509447575,
                        "pitch": 0.12159102410078049,
                        "yaw": 9.43785285949707
                    }
                },
                "velocity": {
                    "x": 3.2518229484558105,
                    "y": 0.5568684339523315,
                    "z": -0.013466586358845234
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.390172958374023,
                "transform": {
                    "location": {
                        "x": 983.2510986328125,
                        "y": 3586.0224609375,
                        "z": 370.36346435546875
                    },
                    "rotation": {
                        "roll": 0.002204473363235593,
                        "pitch": 0.9080121517181396,
                        "yaw": -170.2432403564453
                    }
                },
                "velocity": {
                    "x": -5.3111701011657715,
                    "y": -0.9169172644615173,
                    "z": 0.06853921711444855
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.7610473632812,
                        "y": 3453.443603515625,
                        "z": 370.5531311035156
                    },
                    "rotation": {
                        "roll": -1.3340367033265466e-08,
                        "pitch": 0.27493560314178467,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.900390625,
                        "y": 3619.57373046875,
                        "z": 370.8846435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.8240356445312,
                        "y": 3618.23486328125,
                        "z": 370.88519287109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.937321662902832,
                "transform": {
                    "location": {
                        "x": 934.4295043945312,
                        "y": 3604.329833984375,
                        "z": 370.9012145996094
                    },
                    "rotation": {
                        "roll": 0.009878219105303288,
                        "pitch": -0.23828479647636414,
                        "yaw": -80.97872161865234
                    }
                },
                "velocity": {
                    "x": 0.8132957816123962,
                    "y": -4.869875907897949,
                    "z": 0.0021160696633160114
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.974127769470215,
                "transform": {
                    "location": {
                        "x": 904.4342041015625,
                        "y": 3576.179931640625,
                        "z": 371.1246337890625
                    },
                    "rotation": {
                        "roll": -0.0011901888065040112,
                        "pitch": -0.43994611501693726,
                        "yaw": 9.154083251953125
                    }
                },
                "velocity": {
                    "x": 5.897895812988281,
                    "y": 0.9502863883972168,
                    "z": -0.04451324790716171
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.563996315002441,
                "transform": {
                    "location": {
                        "x": 931.3098754882812,
                        "y": 3603.275634765625,
                        "z": 370.89398193359375
                    },
                    "rotation": {
                        "roll": 0.0049061160534620285,
                        "pitch": -0.11337430030107498,
                        "yaw": -80.62101745605469
                    }
                },
                "velocity": {
                    "x": 0.9015892744064331,
                    "y": -5.490461826324463,
                    "z": 0.004720382392406464
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.96917200088501,
                "transform": {
                    "location": {
                        "x": 961.1737060546875,
                        "y": 3582.356201171875,
                        "z": 370.6163635253906
                    },
                    "rotation": {
                        "roll": 0.0011664143530651927,
                        "pitch": 0.5103926658630371,
                        "yaw": -170.70762634277344
                    }
                },
                "velocity": {
                    "x": -5.8907647132873535,
                    "y": -0.9623602032661438,
                    "z": 0.061378754675388336
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.1134643554688,
                        "y": 3469.894287109375,
                        "z": 370.6258239746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.934477806091309,
                "transform": {
                    "location": {
                        "x": 946.794189453125,
                        "y": 3507.207763671875,
                        "z": 370.7606201171875
                    },
                    "rotation": {
                        "roll": -0.0003051733656320721,
                        "pitch": -0.2392546832561493,
                        "yaw": -80.85188293457031
                    }
                },
                "velocity": {
                    "x": 2.0558621883392334,
                    "y": -12.769994735717773,
                    "z": -0.03732144832611084
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076687812805176,
                "transform": {
                    "location": {
                        "x": 954.3667602539062,
                        "y": 3480.6044921875,
                        "z": 370.66796875
                    },
                    "rotation": {
                        "roll": -0.0007629328756593168,
                        "pitch": -0.22900256514549255,
                        "yaw": -80.84953308105469
                    }
                },
                "velocity": {
                    "x": 1.2826241254806519,
                    "y": -7.974124431610107,
                    "z": -0.03316811844706535
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.380983352661133,
                "transform": {
                    "location": {
                        "x": 948.8834838867188,
                        "y": 3514.679931640625,
                        "z": 370.7756652832031
                    },
                    "rotation": {
                        "roll": -0.0007629361934959888,
                        "pitch": -0.1546013206243515,
                        "yaw": -80.86003112792969
                    }
                },
                "velocity": {
                    "x": 2.126339912414551,
                    "y": -13.210905075073242,
                    "z": -0.036975398659706116
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.980157375335693,
                "transform": {
                    "location": {
                        "x": 947.0936279296875,
                        "y": 3483.87451171875,
                        "z": 370.6854248046875
                    },
                    "rotation": {
                        "roll": 0.0027279919013381004,
                        "pitch": 0.16927257180213928,
                        "yaw": 99.61869812011719
                    }
                },
                "velocity": {
                    "x": -0.998113751411438,
                    "y": 5.896231174468994,
                    "z": 0.022493332624435425
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044293403625488,
                "transform": {
                    "location": {
                        "x": 944.0657348632812,
                        "y": 3502.44189453125,
                        "z": 370.7462463378906
                    },
                    "rotation": {
                        "roll": -0.0001525861007394269,
                        "pitch": 0.18008476495742798,
                        "yaw": 99.1441879272461
                    }
                },
                "velocity": {
                    "x": -1.2783399820327759,
                    "y": 7.942030906677246,
                    "z": 0.025656957179307938
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.5034790039062,
                        "y": 3477.869873046875,
                        "z": 370.64495849609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003304493147879839,
                "transform": {
                    "location": {
                        "x": 932.1522216796875,
                        "y": 3556.00927734375,
                        "z": 370.87322998046875
                    },
                    "rotation": {
                        "roll": 0.00044364240602590144,
                        "pitch": 0.06600011140108109,
                        "yaw": 99.02449798583984
                    }
                },
                "velocity": {
                    "x": -1.551918830955401e-05,
                    "y": -1.9391998648643494e-05,
                    "z": 0.0003295145579613745
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6971895694732666,
                "transform": {
                    "location": {
                        "x": 930.6689453125,
                        "y": 3565.12060546875,
                        "z": 370.8736572265625
                    },
                    "rotation": {
                        "roll": -0.0010376021964475513,
                        "pitch": 0.2129926085472107,
                        "yaw": 99.39190673828125
                    }
                },
                "velocity": {
                    "x": -0.11604813486337662,
                    "y": 0.6874619722366333,
                    "z": 0.0014789580600336194
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.540283203125,
                        "y": 3469.055908203125,
                        "z": 370.6200256347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049365043640137,
                "transform": {
                    "location": {
                        "x": 940.551513671875,
                        "y": 3524.278564453125,
                        "z": 370.8082275390625
                    },
                    "rotation": {
                        "roll": -0.00036621670005843043,
                        "pitch": 0.14609090983867645,
                        "yaw": 99.16046142578125
                    }
                },
                "velocity": {
                    "x": -1.278899073600769,
                    "y": 7.947089672088623,
                    "z": 0.021487444639205933
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.824565410614014,
                "transform": {
                    "location": {
                        "x": 937.39794921875,
                        "y": 3543.873779296875,
                        "z": 370.85577392578125
                    },
                    "rotation": {
                        "roll": -0.0003967252268921584,
                        "pitch": 0.10401694476604462,
                        "yaw": 99.12544250488281
                    }
                },
                "velocity": {
                    "x": -1.2418124675750732,
                    "y": 7.725383758544922,
                    "z": 0.013153676874935627
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.217622756958008,
                "transform": {
                    "location": {
                        "x": 934.485107421875,
                        "y": 3561.970947265625,
                        "z": 370.8743591308594
                    },
                    "rotation": {
                        "roll": 3.538158125593327e-05,
                        "pitch": 0.022088831290602684,
                        "yaw": 99.16989135742188
                    }
                },
                "velocity": {
                    "x": -0.8288676142692566,
                    "y": 5.151362419128418,
                    "z": 0.005732745863497257
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04484514519572258,
        "expert_target_speed": 2.47513735084711,
        "target_point": [
            23.585432351017758,
            -0.28281107707092756
        ],
        "target_point_next": [
            42.08310094156638,
            -0.5708080887728304
        ]
    },
    "600": {
        "acceleration": [
            -0.05075693130493164,
            0.3842449188232422,
            0.00504322350025177
        ],
        "angular_velocity": [
            -0.49404019117355347,
            -0.0715470016002655,
            0.23444542288780212
        ],
        "forward_vector": [
            -0.17362183332443237,
            0.9847977161407471,
            0.005383464973419905
        ],
        "right_vector": [
            -0.9848119616508484,
            -0.17362423241138458,
            -2.3442087695002556e-05
        ],
        "location": [
            933.798583984375,
            3546.908447265625,
            370.8526611328125
        ],
        "rotation": [
            0.001343152136541903,
            0.3084513247013092,
            99.99861145019531
        ],
        "velocity": [
            -0.4435983896255493,
            2.601959705352783,
            0.003249425906687975
        ],
        "speed": 2.639502574266205,
        "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": 9.275997161865234,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.14794921875,
                3556.036376953125,
                370.87347412109375
            ],
            "velocity": [
                -0.05405944213271141,
                0.3386046588420868,
                0.0009995460277423263
            ],
            "speed_kmh": 1.234419671042728,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.684521675109863,
                "transform": {
                    "location": {
                        "x": 882.6426391601562,
                        "y": 3572.593994140625,
                        "z": 371.2705383300781
                    },
                    "rotation": {
                        "roll": -0.01483154296875,
                        "pitch": 0.22017796337604523,
                        "yaw": 9.585763931274414
                    }
                },
                "velocity": {
                    "x": 4.61675500869751,
                    "y": 0.7934802174568176,
                    "z": -0.026560209691524506
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.291621208190918,
                "transform": {
                    "location": {
                        "x": 981.8713989257812,
                        "y": 3585.78369140625,
                        "z": 370.38128662109375
                    },
                    "rotation": {
                        "roll": 0.0053198086097836494,
                        "pitch": 0.9020357131958008,
                        "yaw": -170.19784545898438
                    }
                },
                "velocity": {
                    "x": -6.198988437652588,
                    "y": -1.0727083683013916,
                    "z": 0.07961232960224152
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.4300537109375,
                        "y": 3455.5,
                        "z": 370.56292724609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.1091918945312,
                        "y": 3618.27490234375,
                        "z": 370.8855285644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 929.0313110351562,
                        "y": 3616.9462890625,
                        "z": 370.88604736328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.397721290588379,
                "transform": {
                    "location": {
                        "x": 934.641357421875,
                        "y": 3603.0361328125,
                        "z": 370.9012756347656
                    },
                    "rotation": {
                        "roll": 0.012645915150642395,
                        "pitch": -0.1256140023469925,
                        "yaw": -80.88822937011719
                    }
                },
                "velocity": {
                    "x": 0.8693747520446777,
                    "y": -5.327247619628906,
                    "z": 0.0038027954287827015
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.163974761962891,
                "transform": {
                    "location": {
                        "x": 905.9139404296875,
                        "y": 3576.41845703125,
                        "z": 371.1133117675781
                    },
                    "rotation": {
                        "roll": -0.0005493215867318213,
                        "pitch": -0.4231575131416321,
                        "yaw": 9.152706146240234
                    }
                },
                "velocity": {
                    "x": 6.085323810577393,
                    "y": 0.9804573059082031,
                    "z": -0.04610254988074303
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.247563362121582,
                "transform": {
                    "location": {
                        "x": 931.5188598632812,
                        "y": 3601.999267578125,
                        "z": 370.8949890136719
                    },
                    "rotation": {
                        "roll": 0.003667847253382206,
                        "pitch": -0.04080354794859886,
                        "yaw": -80.74095153808594
                    }
                },
                "velocity": {
                    "x": 0.8440914154052734,
                    "y": -5.179229736328125,
                    "z": 0.003407649928703904
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.951266288757324,
                "transform": {
                    "location": {
                        "x": 959.70458984375,
                        "y": 3582.1162109375,
                        "z": 370.6314697265625
                    },
                    "rotation": {
                        "roll": 0.0017116687959060073,
                        "pitch": 0.5521456599235535,
                        "yaw": -170.7205047607422
                    }
                },
                "velocity": {
                    "x": -5.873298645019531,
                    "y": -0.9583135843276978,
                    "z": 0.05973031744360924
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.7825317382812,
                        "y": 3471.950927734375,
                        "z": 370.6344299316406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.287443161010742,
                "transform": {
                    "location": {
                        "x": 947.2874755859375,
                        "y": 3504.142333984375,
                        "z": 370.75152587890625
                    },
                    "rotation": {
                        "roll": -0.0007934457971714437,
                        "pitch": -0.28634199500083923,
                        "yaw": -80.86117553710938
                    }
                },
                "velocity": {
                    "x": 1.9526021480560303,
                    "y": -12.131248474121094,
                    "z": -0.03759770840406418
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.6724243164062,
                        "y": 3478.5830078125,
                        "z": 370.6588134765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.381120681762695,
                "transform": {
                    "location": {
                        "x": 949.4150390625,
                        "y": 3511.377197265625,
                        "z": 370.7662658691406
                    },
                    "rotation": {
                        "roll": 3.538504824973643e-05,
                        "pitch": -0.1583852469921112,
                        "yaw": -80.85380554199219
                    }
                },
                "velocity": {
                    "x": 2.126258611679077,
                    "y": -13.211057662963867,
                    "z": -0.03712017834186554
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.357639312744141,
                "transform": {
                    "location": {
                        "x": 946.8338012695312,
                        "y": 3485.4326171875,
                        "z": 370.6915588378906
                    },
                    "rotation": {
                        "roll": -0.0022583147510886192,
                        "pitch": 0.17227785289287567,
                        "yaw": 99.49127197265625
                    }
                },
                "velocity": {
                    "x": -1.034505009651184,
                    "y": 6.272860527038574,
                    "z": 0.024469222873449326
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054915428161621,
                "transform": {
                    "location": {
                        "x": 943.7459106445312,
                        "y": 3504.428466796875,
                        "z": 370.7524108886719
                    },
                    "rotation": {
                        "roll": 0.0008244552882388234,
                        "pitch": 0.16682052612304688,
                        "yaw": 99.14437103271484
                    }
                },
                "velocity": {
                    "x": -1.2801159620285034,
                    "y": 7.952508926391602,
                    "z": 0.02397291176021099
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.7778930664062,
                        "y": 3475.80419921875,
                        "z": 370.64276123046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3428943455219269,
                "transform": {
                    "location": {
                        "x": 932.14794921875,
                        "y": 3556.036376953125,
                        "z": 370.87347412109375
                    },
                    "rotation": {
                        "roll": -0.0001220696431118995,
                        "pitch": 0.03895939514040947,
                        "yaw": 99.03688049316406
                    }
                },
                "velocity": {
                    "x": -0.05405944213271141,
                    "y": 0.3386046588420868,
                    "z": 0.0009995460277423263
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3861801624298096,
                "transform": {
                    "location": {
                        "x": 930.6240234375,
                        "y": 3565.386474609375,
                        "z": 370.8735046386719
                    },
                    "rotation": {
                        "roll": -0.0034179643262177706,
                        "pitch": 0.3254653215408325,
                        "yaw": 99.44011688232422
                    }
                },
                "velocity": {
                    "x": -0.23111899197101593,
                    "y": 1.3667759895324707,
                    "z": 0.0016836642753332853
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 949.2908325195312,
                        "y": 3470.6044921875,
                        "z": 370.62652587890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047867774963379,
                "transform": {
                    "location": {
                        "x": 940.23193359375,
                        "y": 3526.26513671875,
                        "z": 370.813232421875
                    },
                    "rotation": {
                        "roll": -0.0004272483638487756,
                        "pitch": 0.14482732117176056,
                        "yaw": 99.12769317626953
                    }
                },
                "velocity": {
                    "x": -1.2789008617401123,
                    "y": 7.945573329925537,
                    "z": 0.021279867738485336
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.204357147216797,
                "transform": {
                    "location": {
                        "x": 937.0946044921875,
                        "y": 3545.760498046875,
                        "z": 370.8586120605469
                    },
                    "rotation": {
                        "roll": 0.00017875933554023504,
                        "pitch": 0.1322939246892929,
                        "yaw": 99.1573715209961
                    }
                },
                "velocity": {
                    "x": -1.1448999643325806,
                    "y": 7.112792015075684,
                    "z": 0.01235696766525507
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.0318403244018555,
                "transform": {
                    "location": {
                        "x": 934.2817993164062,
                        "y": 3563.234619140625,
                        "z": 370.87554931640625
                    },
                    "rotation": {
                        "roll": 0.00012647523544728756,
                        "pitch": 0.022191284224390984,
                        "yaw": 99.12908935546875
                    }
                },
                "velocity": {
                    "x": -0.7995474934577942,
                    "y": 4.967907428741455,
                    "z": 0.0061051081866025925
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0442163459956646,
        "expert_target_speed": 2.5379679667133117,
        "target_point": [
            22.95969845895615,
            -0.26491539154777
        ],
        "target_point_next": [
            41.45754373532665,
            -0.5413311942352586
        ]
    },
    "605": {
        "acceleration": [
            0.16418814659118652,
            -0.9415960311889648,
            0.003994563594460487
        ],
        "angular_velocity": [
            -0.6641479730606079,
            -0.12433523684740067,
            -0.6834908723831177
        ],
        "forward_vector": [
            -0.17256607115268707,
            0.9849933385848999,
            0.0030084801837801933
        ],
        "right_vector": [
            -0.9849978089332581,
            -0.17256669700145721,
            -4.959734724252485e-05
        ],
        "location": [
            933.6868286132812,
            3547.564208984375,
            370.8541259765625
        ],
        "rotation": [
            0.002841731533408165,
            0.1723734736442566,
            99.93709564208984
        ],
        "velocity": [
            -0.4348898231983185,
            2.562927722930908,
            0.004232749808579683
        ],
        "speed": 2.599562976980799,
        "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": 8.81251335144043,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.1161499023438,
                3556.235595703125,
                370.87420654296875
            ],
            "velocity": [
                -0.19801604747772217,
                1.2335476875305176,
                0.002038822043687105
            ],
            "speed_kmh": 4.4976297250981245,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.401507377624512,
                "transform": {
                    "location": {
                        "x": 883.9263916015625,
                        "y": 3572.814208984375,
                        "z": 371.26361083984375
                    },
                    "rotation": {
                        "roll": -0.011047364212572575,
                        "pitch": 0.0928700789809227,
                        "yaw": 9.698450088500977
                    }
                },
                "velocity": {
                    "x": 5.322924613952637,
                    "y": 0.9174116253852844,
                    "z": -0.033337872475385666
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.35090446472168,
                "transform": {
                    "location": {
                        "x": 980.0149536132812,
                        "y": 3585.465576171875,
                        "z": 370.4047546386719
                    },
                    "rotation": {
                        "roll": 0.02145647257566452,
                        "pitch": 1.0826053619384766,
                        "yaw": -170.30023193359375
                    }
                },
                "velocity": {
                    "x": -8.23285961151123,
                    "y": -1.3954824209213257,
                    "z": 0.10130384564399719
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.0991821289062,
                        "y": 3457.55615234375,
                        "z": 370.5725402832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.25570860505104065,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.146252632141113,
                "transform": {
                    "location": {
                        "x": 932.3259887695312,
                        "y": 3616.934814453125,
                        "z": 370.8863525390625
                    },
                    "rotation": {
                        "roll": -0.022430419921875,
                        "pitch": -0.007629320956766605,
                        "yaw": -80.81687927246094
                    }
                },
                "velocity": {
                    "x": 0.8492014408111572,
                    "y": -5.075701713562012,
                    "z": -0.004788341466337442
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.00728702545166,
                "transform": {
                    "location": {
                        "x": 929.2391357421875,
                        "y": 3615.7041015625,
                        "z": 370.8869934082031
                    },
                    "rotation": {
                        "roll": -0.0231933631002903,
                        "pitch": 0.024124227464199066,
                        "yaw": -80.59578704833984
                    }
                },
                "velocity": {
                    "x": 0.8437541723251343,
                    "y": -4.935686111450195,
                    "z": 0.0014797210460528731
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.358241558074951,
                "transform": {
                    "location": {
                        "x": 934.8715209960938,
                        "y": 3601.6201171875,
                        "z": 370.89898681640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2603667974472046,
                        "yaw": -80.79740142822266
                    }
                },
                "velocity": {
                    "x": 1.0236197710037231,
                    "y": -6.275303363800049,
                    "z": 0.0020909023005515337
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.011941909790039,
                "transform": {
                    "location": {
                        "x": 907.4349975585938,
                        "y": 3576.66357421875,
                        "z": 371.1020202636719
                    },
                    "rotation": {
                        "roll": -0.00012206966493977234,
                        "pitch": -0.4267911911010742,
                        "yaw": 9.148329734802246
                    }
                },
                "velocity": {
                    "x": 5.935340404510498,
                    "y": 0.9556174278259277,
                    "z": -0.04447983205318451
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.405696868896484,
                "transform": {
                    "location": {
                        "x": 931.7335815429688,
                        "y": 3600.6787109375,
                        "z": 370.89581298828125
                    },
                    "rotation": {
                        "roll": 0.0011872808681800961,
                        "pitch": 0.037012793123722076,
                        "yaw": -80.79234313964844
                    }
                },
                "velocity": {
                    "x": 0.8684752583503723,
                    "y": -5.335475921630859,
                    "z": 0.00204124441370368
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.673031806945801,
                "transform": {
                    "location": {
                        "x": 958.2658081054688,
                        "y": 3581.881591796875,
                        "z": 370.64593505859375
                    },
                    "rotation": {
                        "roll": -0.00021362242114264518,
                        "pitch": 0.5242443084716797,
                        "yaw": -170.72509765625
                    }
                },
                "velocity": {
                    "x": -5.5985894203186035,
                    "y": -0.9142658114433289,
                    "z": 0.05661345273256302
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.4517211914062,
                        "y": 3474.007080078125,
                        "z": 370.64306640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.443798065185547,
                "transform": {
                    "location": {
                        "x": 947.7843017578125,
                        "y": 3501.05419921875,
                        "z": 370.7418212890625
                    },
                    "rotation": {
                        "roll": -0.00021363804989960045,
                        "pitch": -0.19247472286224365,
                        "yaw": -80.8558120727539
                    }
                },
                "velocity": {
                    "x": 1.976503610610962,
                    "y": -12.285767555236816,
                    "z": -0.03830157220363617
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.9548950195312,
                        "y": 3476.518310546875,
                        "z": 370.6482849121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.25816822052002,
                "transform": {
                    "location": {
                        "x": 949.9457397460938,
                        "y": 3508.080322265625,
                        "z": 370.75677490234375
                    },
                    "rotation": {
                        "roll": 0.0004927834961563349,
                        "pitch": -0.19018660485744476,
                        "yaw": -80.86082458496094
                    }
                },
                "velocity": {
                    "x": 2.1067440509796143,
                    "y": -13.089662551879883,
                    "z": -0.03735411539673805
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.359375953674316,
                "transform": {
                    "location": {
                        "x": 946.5197143554688,
                        "y": 3487.334716796875,
                        "z": 370.69970703125
                    },
                    "rotation": {
                        "roll": -0.0010681180283427238,
                        "pitch": 0.05923139676451683,
                        "yaw": 99.3718032836914
                    }
                },
                "velocity": {
                    "x": -1.3557302951812744,
                    "y": 8.248652458190918,
                    "z": 0.029992666095495224
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.042888641357422,
                "transform": {
                    "location": {
                        "x": 943.4262084960938,
                        "y": 3506.415283203125,
                        "z": 370.7582702636719
                    },
                    "rotation": {
                        "roll": 0.0007909178966656327,
                        "pitch": 0.16779041290283203,
                        "yaw": 99.13923645019531
                    }
                },
                "velocity": {
                    "x": -1.2766549587249756,
                    "y": 7.940886497497559,
                    "z": 0.023351067677140236
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.084716796875,
                        "y": 3473.74365234375,
                        "z": 370.63677978515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.249341607093811,
                "transform": {
                    "location": {
                        "x": 932.1161499023438,
                        "y": 3556.235595703125,
                        "z": 370.87420654296875
                    },
                    "rotation": {
                        "roll": -3.051657222385984e-05,
                        "pitch": -0.014801018871366978,
                        "yaw": 99.03672790527344
                    }
                },
                "velocity": {
                    "x": -0.19801604747772217,
                    "y": 1.2335476875305176,
                    "z": 0.002038822043687105
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3852736949920654,
                "transform": {
                    "location": {
                        "x": 930.5458984375,
                        "y": 3565.849609375,
                        "z": 370.87359619140625
                    },
                    "rotation": {
                        "roll": -0.0034790232311934233,
                        "pitch": 0.4249880015850067,
                        "yaw": 99.47782135009766
                    }
                },
                "velocity": {
                    "x": -0.3977392017841339,
                    "y": 2.3518784046173096,
                    "z": 0.0015725134871900082
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.9841918945312,
                        "y": 3472.50927734375,
                        "z": 370.6345520019531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047377586364746,
                "transform": {
                    "location": {
                        "x": 939.9122314453125,
                        "y": 3528.251708984375,
                        "z": 370.8182678222656
                    },
                    "rotation": {
                        "roll": -0.0001831016707001254,
                        "pitch": 0.14508004486560822,
                        "yaw": 99.159912109375
                    }
                },
                "velocity": {
                    "x": -1.2794877290725708,
                    "y": 7.944981575012207,
                    "z": 0.02137087844312191
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.971751689910889,
                "transform": {
                    "location": {
                        "x": 936.8422241210938,
                        "y": 3547.32080078125,
                        "z": 370.8605651855469
                    },
                    "rotation": {
                        "roll": -0.0005493198987096548,
                        "pitch": 0.1974334418773651,
                        "yaw": 98.9437255859375
                    }
                },
                "velocity": {
                    "x": -0.9460011124610901,
                    "y": 5.896337985992432,
                    "z": 0.009975881315767765
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.976871013641357,
                "transform": {
                    "location": {
                        "x": 934.0811767578125,
                        "y": 3564.47998046875,
                        "z": 370.8766174316406
                    },
                    "rotation": {
                        "roll": -0.00115966668818146,
                        "pitch": 0.037716303020715714,
                        "yaw": 99.2417221069336
                    }
                },
                "velocity": {
                    "x": -0.7926710844039917,
                    "y": 4.913336277008057,
                    "z": 0.0066992854699492455
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.03679168224334717,
        "expert_target_speed": 2.3037824657593315,
        "target_point": [
            22.294760511234983,
            -0.23718193235042895
        ],
        "target_point_next": [
            40.79289188679813,
            -0.49373831392000245
        ]
    },
    "610": {
        "acceleration": [
            4.140843391418457,
            -23.522579193115234,
            -0.03814811632037163
        ],
        "angular_velocity": [
            -5.569006443023682,
            -1.022451639175415,
            0.8544661402702332
        ],
        "forward_vector": [
            -0.1737857162952423,
            0.9847748279571533,
            -0.004126298241317272
        ],
        "right_vector": [
            -0.9847832322120667,
            -0.17378708720207214,
            2.6098683520103805e-05
        ],
        "location": [
            933.6000366210938,
            3548.07861328125,
            370.85650634765625
        ],
        "rotation": [
            -0.0014953571371734142,
            -0.2364201545715332,
            100.00808715820312
        ],
        "velocity": [
            -0.11951833218336105,
            0.743823766708374,
            0.001360502210445702
        ],
        "speed": 0.7533647374599676,
        "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": 8.702716827392578,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                932.0509643554688,
                3556.642333984375,
                370.8747253417969
            ],
            "velocity": [
                -0.32372400164604187,
                2.0132522583007812,
                0.002392682945355773
            ],
            "speed_kmh": 7.340811904827471,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.632076740264893,
                "transform": {
                    "location": {
                        "x": 885.363037109375,
                        "y": 3573.0595703125,
                        "z": 371.25439453125
                    },
                    "rotation": {
                        "roll": 0.017608406022191048,
                        "pitch": 0.13339358568191528,
                        "yaw": 9.680161476135254
                    }
                },
                "velocity": {
                    "x": 6.539978981018066,
                    "y": 1.100620150566101,
                    "z": -0.041861388832330704
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04397201538086,
                "transform": {
                    "location": {
                        "x": 977.977783203125,
                        "y": 3585.121826171875,
                        "z": 370.42974853515625
                    },
                    "rotation": {
                        "roll": 0.013091664761304855,
                        "pitch": 0.7211723327636719,
                        "yaw": -170.4253387451172
                    }
                },
                "velocity": {
                    "x": -7.931978702545166,
                    "y": -1.3342105150222778,
                    "z": 0.09530237317085266
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.7681884765625,
                        "y": 3459.61279296875,
                        "z": 370.58197021484375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.34751558303833,
                "transform": {
                    "location": {
                        "x": 932.5463256835938,
                        "y": 3615.638427734375,
                        "z": 370.8846130371094
                    },
                    "rotation": {
                        "roll": -0.0386962890625,
                        "pitch": 0.006181320641189814,
                        "yaw": -80.46355438232422
                    }
                },
                "velocity": {
                    "x": 0.9099442958831787,
                    "y": -5.269525051116943,
                    "z": -0.005245837848633528
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.98978853225708,
                "transform": {
                    "location": {
                        "x": 929.4503784179688,
                        "y": 3614.475341796875,
                        "z": 370.88800048828125
                    },
                    "rotation": {
                        "roll": -0.010620116256177425,
                        "pitch": 0.03566724434494972,
                        "yaw": -80.36888122558594
                    }
                },
                "velocity": {
                    "x": 0.8497931361198425,
                    "y": -4.916893005371094,
                    "z": 0.002330570248886943
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.317476749420166,
                "transform": {
                    "location": {
                        "x": 935.0979614257812,
                        "y": 3600.23095703125,
                        "z": 370.90338134765625
                    },
                    "rotation": {
                        "roll": -0.0018615759909152985,
                        "pitch": -0.23784767091274261,
                        "yaw": -80.74425506591797
                    }
                },
                "velocity": {
                    "x": 0.6966738700866699,
                    "y": -4.260897636413574,
                    "z": -1.9321441868669353e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.529613494873047,
                "transform": {
                    "location": {
                        "x": 908.852783203125,
                        "y": 3576.891845703125,
                        "z": 371.09124755859375
                    },
                    "rotation": {
                        "roll": -0.0009765627328306437,
                        "pitch": -0.4429309070110321,
                        "yaw": 9.146377563476562
                    }
                },
                "velocity": {
                    "x": 5.45913553237915,
                    "y": 0.8789589405059814,
                    "z": -0.043545130640268326
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.715238571166992,
                "transform": {
                    "location": {
                        "x": 931.9871826171875,
                        "y": 3599.122802734375,
                        "z": 370.8968200683594
                    },
                    "rotation": {
                        "roll": 0.0006278001819737256,
                        "pitch": 0.18057653307914734,
                        "yaw": -80.79222869873047
                    }
                },
                "velocity": {
                    "x": 1.0807933807373047,
                    "y": -6.627692699432373,
                    "z": 0.0019430923275649548
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.442819118499756,
                "transform": {
                    "location": {
                        "x": 956.9027099609375,
                        "y": 3581.65869140625,
                        "z": 370.6596374511719
                    },
                    "rotation": {
                        "roll": 0.0004273951635695994,
                        "pitch": 0.5274476408958435,
                        "yaw": -170.7284698486328
                    }
                },
                "velocity": {
                    "x": -5.371451377868652,
                    "y": -0.8768412470817566,
                    "z": 0.05422189459204674
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.1206665039062,
                        "y": 3476.063720703125,
                        "z": 370.6517028808594
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.328121185302734,
                "transform": {
                    "location": {
                        "x": 948.2533569335938,
                        "y": 3498.14013671875,
                        "z": 370.7320861816406
                    },
                    "rotation": {
                        "roll": 0.000431177846621722,
                        "pitch": -0.36688360571861267,
                        "yaw": -80.86077880859375
                    }
                },
                "velocity": {
                    "x": 1.8004571199417114,
                    "y": -11.184064865112305,
                    "z": -0.037063803523778915
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.2567749023438,
                        "y": 3474.456787109375,
                        "z": 370.6385192871094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.275615692138672,
                "transform": {
                    "location": {
                        "x": 950.4705810546875,
                        "y": 3504.818359375,
                        "z": 370.7471008300781
                    },
                    "rotation": {
                        "roll": 0.0013719545677304268,
                        "pitch": -0.18493419885635376,
                        "yaw": -80.85859680175781
                    }
                },
                "velocity": {
                    "x": 2.1085004806518555,
                    "y": -13.107050895690918,
                    "z": -0.03776942193508148
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.07088565826416,
                "transform": {
                    "location": {
                        "x": 946.1838989257812,
                        "y": 3489.377685546875,
                        "z": 370.7060546875
                    },
                    "rotation": {
                        "roll": -0.0011901945108547807,
                        "pitch": 0.20130614936351776,
                        "yaw": 99.36172485351562
                    }
                },
                "velocity": {
                    "x": -1.3011809587478638,
                    "y": 7.9652557373046875,
                    "z": 0.02888527885079384
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055887222290039,
                "transform": {
                    "location": {
                        "x": 943.1066284179688,
                        "y": 3508.402099609375,
                        "z": 370.7641296386719
                    },
                    "rotation": {
                        "roll": -0.0006103573832660913,
                        "pitch": 0.16870565712451935,
                        "yaw": 99.13970947265625
                    }
                },
                "velocity": {
                    "x": -1.280737280845642,
                    "y": 7.953397750854492,
                    "z": 0.02222972735762596
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4122314453125,
                        "y": 3471.686279296875,
                        "z": 370.6285400390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.039114475250244,
                "transform": {
                    "location": {
                        "x": 932.0509643554688,
                        "y": 3556.642333984375,
                        "z": 370.8747253417969
                    },
                    "rotation": {
                        "roll": 0.0008393328753300011,
                        "pitch": -0.019261132925748825,
                        "yaw": 99.07368469238281
                    }
                },
                "velocity": {
                    "x": -0.32372400164604187,
                    "y": 2.0132522583007812,
                    "z": 0.002392682945355773
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.7664594650268555,
                "transform": {
                    "location": {
                        "x": 930.417724609375,
                        "y": 3566.608642578125,
                        "z": 370.873779296875
                    },
                    "rotation": {
                        "roll": -0.0036621009930968285,
                        "pitch": 0.5772739052772522,
                        "yaw": 99.52890014648438
                    }
                },
                "velocity": {
                    "x": -0.6289524435997009,
                    "y": 3.7135732173919678,
                    "z": 0.003036756534129381
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.6552734375,
                        "y": 3474.554931640625,
                        "z": 370.6431884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049738883972168,
                "transform": {
                    "location": {
                        "x": 939.5927124023438,
                        "y": 3530.238037109375,
                        "z": 370.82330322265625
                    },
                    "rotation": {
                        "roll": -0.00039672586717642844,
                        "pitch": 0.14561279118061066,
                        "yaw": 99.12606811523438
                    }
                },
                "velocity": {
                    "x": -1.2781554460525513,
                    "y": 7.94758939743042,
                    "z": 0.020857419818639755
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.284042835235596,
                "transform": {
                    "location": {
                        "x": 936.6030883789062,
                        "y": 3548.8154296875,
                        "z": 370.8639221191406
                    },
                    "rotation": {
                        "roll": 0.00019968318520113826,
                        "pitch": 0.08159343898296356,
                        "yaw": 99.0787582397461
                    }
                },
                "velocity": {
                    "x": -0.9987607598304749,
                    "y": 6.204158306121826,
                    "z": 0.009657925926148891
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.3665995597839355,
                "transform": {
                    "location": {
                        "x": 933.9024658203125,
                        "y": 3565.587158203125,
                        "z": 370.87738037109375
                    },
                    "rotation": {
                        "roll": -0.0006713879993185401,
                        "pitch": -0.024288151413202286,
                        "yaw": 99.1959228515625
                    }
                },
                "velocity": {
                    "x": -0.6952676773071289,
                    "y": 4.310891628265381,
                    "z": 0.0026855850592255592
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.12369491904973984,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.030539747327566147,
        "expert_target_speed": 0.7682622715904079,
        "target_point": [
            21.772789451192818,
            -0.26088084530531086
        ],
        "target_point_next": [
            40.27058873789997,
            -0.5403573438061402
        ]
    },
    "615": {
        "acceleration": [
            -0.02261703833937645,
            0.20428605377674103,
            0.0009136198787018657
        ],
        "angular_velocity": [
            1.8896620273590088,
            0.29093480110168457,
            -0.03790970891714096
        ],
        "forward_vector": [
            -0.17390169203281403,
            0.9847399592399597,
            -0.006735631264746189
        ],
        "right_vector": [
            -0.9847624897956848,
            -0.17390474677085876,
            0.00013528553245123476
        ],
        "location": [
            933.5980834960938,
            3548.0908203125,
            370.8570861816406
        ],
        "rotation": [
            -0.007751466240733862,
            -0.38592615723609924,
            100.01497650146484
        ],
        "velocity": [
            -0.01172831654548645,
            0.0692654475569725,
            -0.00020240782760083675
        ],
        "speed": 0.07025137460761063,
        "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": 9.319279670715332,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                931.9512939453125,
                3557.263427734375,
                370.8754577636719
            ],
            "velocity": [
                -0.46997493505477905,
                2.92063570022583,
                0.0025601768866181374
            ],
            "speed_kmh": 10.64954960091022,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.1942138671875,
                        "y": 3628.363037109375,
                        "z": 370.8936767578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.047035217285156,
                "transform": {
                    "location": {
                        "x": 887.177001953125,
                        "y": 3573.364013671875,
                        "z": 371.24237060546875
                    },
                    "rotation": {
                        "roll": 0.016517886891961098,
                        "pitch": 0.22863374650478363,
                        "yaw": 9.533416748046875
                    }
                },
                "velocity": {
                    "x": 7.9370341300964355,
                    "y": 1.3250291347503662,
                    "z": -0.05062510445713997
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.891613006591797,
                "transform": {
                    "location": {
                        "x": 976.0366821289062,
                        "y": 3584.7958984375,
                        "z": 370.4526062011719
                    },
                    "rotation": {
                        "roll": 0.007024329621344805,
                        "pitch": 0.6588194966316223,
                        "yaw": -170.46978759765625
                    }
                },
                "velocity": {
                    "x": -7.782390117645264,
                    "y": -1.3051929473876953,
                    "z": 0.09180700033903122
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.437255859375,
                        "y": 3461.6689453125,
                        "z": 370.5909423828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0493884086608887,
                "transform": {
                    "location": {
                        "x": 932.7101440429688,
                        "y": 3614.68798828125,
                        "z": 370.8860168457031
                    },
                    "rotation": {
                        "roll": -0.01452638953924179,
                        "pitch": -0.5978942513465881,
                        "yaw": -80.31583404541016
                    }
                },
                "velocity": {
                    "x": 0.523373544216156,
                    "y": -3.004138469696045,
                    "z": -0.0014277553418651223
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.588412761688232,
                "transform": {
                    "location": {
                        "x": 929.654296875,
                        "y": 3613.293701171875,
                        "z": 370.88885498046875
                    },
                    "rotation": {
                        "roll": 0.00755523843690753,
                        "pitch": -0.03591996431350708,
                        "yaw": -80.27668762207031
                    }
                },
                "velocity": {
                    "x": 0.7649744153022766,
                    "y": -4.524194717407227,
                    "z": 0.0022534083109349012
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.82235050201416,
                "transform": {
                    "location": {
                        "x": 935.2835083007812,
                        "y": 3599.095458984375,
                        "z": 370.9030456542969
                    },
                    "rotation": {
                        "roll": -0.0007019038894213736,
                        "pitch": -0.13452057540416718,
                        "yaw": -80.7269058227539
                    }
                },
                "velocity": {
                    "x": 0.7773252129554749,
                    "y": -4.759288311004639,
                    "z": 0.0019528674893081188
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.495850086212158,
                "transform": {
                    "location": {
                        "x": 910.205810546875,
                        "y": 3577.109619140625,
                        "z": 371.0807800292969
                    },
                    "rotation": {
                        "roll": -0.0004272499354556203,
                        "pitch": -0.4461684226989746,
                        "yaw": 9.147379875183105
                    }
                },
                "velocity": {
                    "x": 5.42581033706665,
                    "y": 0.8736563920974731,
                    "z": -0.040977321565151215
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.854037761688232,
                "transform": {
                    "location": {
                        "x": 932.2395629882812,
                        "y": 3597.573974609375,
                        "z": 370.8970947265625
                    },
                    "rotation": {
                        "roll": 0.0027990443632006645,
                        "pitch": -0.04953252896666527,
                        "yaw": -80.98802185058594
                    }
                },
                "velocity": {
                    "x": 0.9408906102180481,
                    "y": -5.777929782867432,
                    "z": 0.0028748894110322
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.3556437492370605,
                "transform": {
                    "location": {
                        "x": 955.5665283203125,
                        "y": 3581.4404296875,
                        "z": 370.67303466796875
                    },
                    "rotation": {
                        "roll": 0.0002217344444943592,
                        "pitch": 0.5467839241027832,
                        "yaw": -170.7284698486328
                    }
                },
                "velocity": {
                    "x": -5.285417556762695,
                    "y": -0.862808883190155,
                    "z": 0.05329497158527374
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.7897338867188,
                        "y": 3478.119873046875,
                        "z": 370.66033935546875
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 11.708086967468262,
                "transform": {
                    "location": {
                        "x": 948.7071533203125,
                        "y": 3495.319580078125,
                        "z": 370.72259521484375
                    },
                    "rotation": {
                        "roll": 0.00036701778299175203,
                        "pitch": -0.18248897790908813,
                        "yaw": -80.8561782836914
                    }
                },
                "velocity": {
                    "x": 1.8599058389663696,
                    "y": -11.559345245361328,
                    "z": -0.0398857407271862
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.5868530273438,
                        "y": 3472.3994140625,
                        "z": 370.6297912597656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.407844543457031,
                "transform": {
                    "location": {
                        "x": 950.9852905273438,
                        "y": 3501.61865234375,
                        "z": 370.7379150390625
                    },
                    "rotation": {
                        "roll": 0.00018040403665509075,
                        "pitch": -0.3974008858203888,
                        "yaw": -80.86656188964844
                    }
                },
                "velocity": {
                    "x": 1.9703196287155151,
                    "y": -12.250336647033691,
                    "z": -0.04119003564119339
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.909790992736816,
                "transform": {
                    "location": {
                        "x": 945.8646850585938,
                        "y": 3491.333251953125,
                        "z": 370.7130432128906
                    },
                    "rotation": {
                        "roll": -0.0018005487509071827,
                        "pitch": 0.22306030988693237,
                        "yaw": 99.24819946289062
                    }
                },
                "velocity": {
                    "x": -1.2673085927963257,
                    "y": 7.807551860809326,
                    "z": 0.029284590855240822
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.043892860412598,
                "transform": {
                    "location": {
                        "x": 942.7869873046875,
                        "y": 3510.388671875,
                        "z": 370.7698059082031
                    },
                    "rotation": {
                        "roll": 0.0011744037037715316,
                        "pitch": 0.16417725384235382,
                        "yaw": 99.13902282714844
                    }
                },
                "velocity": {
                    "x": -1.277669072151184,
                    "y": 7.941742897033691,
                    "z": 0.022261513397097588
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86243,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.7404174804688,
                        "y": 3469.62890625,
                        "z": 370.6202392578125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9582083225250244,
                "transform": {
                    "location": {
                        "x": 931.9512939453125,
                        "y": 3557.263427734375,
                        "z": 370.8754577636719
                    },
                    "rotation": {
                        "roll": 0.00048750644782558084,
                        "pitch": -0.024076415225863457,
                        "yaw": 99.09231567382812
                    }
                },
                "velocity": {
                    "x": -0.46997493505477905,
                    "y": 2.92063570022583,
                    "z": 0.0025601768866181374
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.6926774978637695,
                "transform": {
                    "location": {
                        "x": 930.2300415039062,
                        "y": 3567.6875,
                        "z": 370.8747863769531
                    },
                    "rotation": {
                        "roll": -0.1044921725988388,
                        "pitch": 0.5617420673370361,
                        "yaw": 99.7711410522461
                    }
                },
                "velocity": {
                    "x": -0.9591599702835083,
                    "y": 4.593606948852539,
                    "z": 0.002983140992000699
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.3395385742188,
                        "y": 3476.51611328125,
                        "z": 370.65142822265625
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047863006591797,
                "transform": {
                    "location": {
                        "x": 939.2727661132812,
                        "y": 3532.224609375,
                        "z": 370.82806396484375
                    },
                    "rotation": {
                        "roll": -0.0018310557352378964,
                        "pitch": 0.13148796558380127,
                        "yaw": 99.166259765625
                    }
                },
                "velocity": {
                    "x": -1.2801421880722046,
                    "y": 7.94537878036499,
                    "z": 0.017306765541434288
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.42418909072876,
                "transform": {
                    "location": {
                        "x": 936.3399658203125,
                        "y": 3550.450439453125,
                        "z": 370.8669128417969
                    },
                    "rotation": {
                        "roll": 0.0005261121550574899,
                        "pitch": -0.008763132616877556,
                        "yaw": 99.0723876953125
                    }
                },
                "velocity": {
                    "x": -1.180128812789917,
                    "y": 7.329787254333496,
                    "z": 0.009908914566040039
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.669929504394531,
                "transform": {
                    "location": {
                        "x": 933.71484375,
                        "y": 3566.75146484375,
                        "z": 370.8785400390625
                    },
                    "rotation": {
                        "roll": 0.001398385502398014,
                        "pitch": 0.07063781470060349,
                        "yaw": 99.1690902709961
                    }
                },
                "velocity": {
                    "x": -0.7425957918167114,
                    "y": 4.610505104064941,
                    "z": 0.00603839848190546
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.031456656754016876,
        "expert_target_speed": 0.4328906289099419,
        "target_point": [
            21.760397136294507,
            -0.263307998765435
        ],
        "target_point_next": [
            40.258162572404444,
            -0.5450160660524617
        ]
    },
    "620": {
        "acceleration": [
            -0.2677128314971924,
            1.6513830423355103,
            0.014809800311923027
        ],
        "angular_velocity": [
            1.1924326419830322,
            0.15409407019615173,
            0.6644220948219299
        ],
        "forward_vector": [
            -0.1737736463546753,
            0.9847853779792786,
            -0.0006550549296662211
        ],
        "right_vector": [
            -0.9847856163978577,
            -0.17377367615699768,
            2.6631632863427512e-05
        ],
        "location": [
            933.5930786132812,
            3548.119873046875,
            370.85577392578125
        ],
        "rotation": [
            -0.0015258805360645056,
            -0.037531886249780655,
            100.0073013305664
        ],
        "velocity": [
            -0.03735002502799034,
            0.22151893377304077,
            0.0017666816711425781
        ],
        "speed": 0.22464563737036233,
        "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": 10.15339183807373,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                931.8142700195312,
                3558.1162109375,
                370.8763732910156
            ],
            "velocity": [
                -0.5942908525466919,
                3.696636199951172,
                0.002169427927583456
            ],
            "speed_kmh": 13.478769955801395,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.3927001953125,
                        "y": 3627.128662109375,
                        "z": 370.8917236328125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.804865837097168,
                "transform": {
                    "location": {
                        "x": 889.23974609375,
                        "y": 3573.7080078125,
                        "z": 371.22943115234375
                    },
                    "rotation": {
                        "roll": 0.00955178216099739,
                        "pitch": 0.11135257035493851,
                        "yaw": 9.470752716064453
                    }
                },
                "velocity": {
                    "x": 8.684957504272461,
                    "y": 1.4470402002334595,
                    "z": -0.05692916736006737
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.118732452392578,
                "transform": {
                    "location": {
                        "x": 974.04638671875,
                        "y": 3584.46533203125,
                        "z": 370.4760437011719
                    },
                    "rotation": {
                        "roll": 0.010378492064774036,
                        "pitch": 0.7071431279182434,
                        "yaw": -170.57212829589844
                    }
                },
                "velocity": {
                    "x": -8.009204864501953,
                    "y": -1.3256757259368896,
                    "z": 0.09502853453159332
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 947.1116943359375,
                        "y": 3463.6923828125,
                        "z": 370.5997314453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.907790422439575,
                "transform": {
                    "location": {
                        "x": 932.8402099609375,
                        "y": 3613.940185546875,
                        "z": 370.8849182128906
                    },
                    "rotation": {
                        "roll": -0.006072997581213713,
                        "pitch": -0.2671491801738739,
                        "yaw": -80.23402404785156
                    }
                },
                "velocity": {
                    "x": 0.5004021525382996,
                    "y": -2.8644087314605713,
                    "z": 0.0020930480677634478
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.261786937713623,
                "transform": {
                    "location": {
                        "x": 929.8634643554688,
                        "y": 3612.05419921875,
                        "z": 370.8899841308594
                    },
                    "rotation": {
                        "roll": 0.007047358434647322,
                        "pitch": 0.12665219604969025,
                        "yaw": -80.37291717529297
                    }
                },
                "velocity": {
                    "x": 0.8738694787025452,
                    "y": -5.188712120056152,
                    "z": 0.004582328721880913
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.029365539550781,
                "transform": {
                    "location": {
                        "x": 935.4849853515625,
                        "y": 3597.857421875,
                        "z": 370.9016418457031
                    },
                    "rotation": {
                        "roll": 0.002614262979477644,
                        "pitch": 0.14212939143180847,
                        "yaw": -80.74528503417969
                    }
                },
                "velocity": {
                    "x": 0.8068410158157349,
                    "y": -4.964223384857178,
                    "z": 0.0027872370555996895
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.320734977722168,
                "transform": {
                    "location": {
                        "x": 911.5473022460938,
                        "y": 3577.325439453125,
                        "z": 371.0703430175781
                    },
                    "rotation": {
                        "roll": -0.0014038063818588853,
                        "pitch": -0.4457995891571045,
                        "yaw": 9.143165588378906
                    }
                },
                "velocity": {
                    "x": 5.253040790557861,
                    "y": 0.8450649976730347,
                    "z": -0.040630992501974106
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.108081102371216,
                "transform": {
                    "location": {
                        "x": 932.383544921875,
                        "y": 3596.685791015625,
                        "z": 370.8968200683594
                    },
                    "rotation": {
                        "roll": 0.0037297930102795362,
                        "pitch": -0.2758508324623108,
                        "yaw": -80.8299331665039
                    }
                },
                "velocity": {
                    "x": 0.4963856041431427,
                    "y": -3.068186044692993,
                    "z": 0.001912517473101616
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.069335460662842,
                "transform": {
                    "location": {
                        "x": 954.2825317382812,
                        "y": 3581.231201171875,
                        "z": 370.68597412109375
                    },
                    "rotation": {
                        "roll": 0.0001994011690840125,
                        "pitch": 0.5246336460113525,
                        "yaw": -170.73060607910156
                    }
                },
                "velocity": {
                    "x": -5.002887725830078,
                    "y": -0.8164854049682617,
                    "z": 0.05129159986972809
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.670435905456543,
                "transform": {
                    "location": {
                        "x": 944.4769897460938,
                        "y": 3480.05615234375,
                        "z": 370.6712341308594
                    },
                    "rotation": {
                        "roll": -0.01257324405014515,
                        "pitch": -0.047449320554733276,
                        "yaw": 99.1823959350586
                    }
                },
                "velocity": {
                    "x": -1.0860750675201416,
                    "y": 6.581303119659424,
                    "z": 0.040080707520246506
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.682828903198242,
                "transform": {
                    "location": {
                        "x": 949.1920166015625,
                        "y": 3492.305908203125,
                        "z": 370.7119445800781
                    },
                    "rotation": {
                        "roll": 0.00020238611614331603,
                        "pitch": -0.0507824532687664,
                        "yaw": -80.8604507446289
                    }
                },
                "velocity": {
                    "x": 2.0145797729492188,
                    "y": -12.521721839904785,
                    "z": -0.045672930777072906
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86244,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.9169921875,
                        "y": 3470.342041015625,
                        "z": 370.62115478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.744033813476562,
                "transform": {
                    "location": {
                        "x": 951.4572143554688,
                        "y": 3498.68408203125,
                        "z": 370.728515625
                    },
                    "rotation": {
                        "roll": 0.0009153864230029285,
                        "pitch": -0.4967937767505646,
                        "yaw": -80.85777282714844
                    }
                },
                "velocity": {
                    "x": 1.8646193742752075,
                    "y": -11.594993591308594,
                    "z": -0.04067060723900795
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.09115219116211,
                "transform": {
                    "location": {
                        "x": 945.5430297851562,
                        "y": 3493.3125,
                        "z": 370.7205810546875
                    },
                    "rotation": {
                        "roll": 1.3340288873564532e-08,
                        "pitch": 0.19326019287109375,
                        "yaw": 99.25945281982422
                    }
                },
                "velocity": {
                    "x": -1.2993505001068115,
                    "y": 7.986088275909424,
                    "z": 0.028750132769346237
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054961204528809,
                "transform": {
                    "location": {
                        "x": 942.4673461914062,
                        "y": 3512.37548828125,
                        "z": 370.77545166015625
                    },
                    "rotation": {
                        "roll": -0.00018310178711544722,
                        "pitch": 0.15829645097255707,
                        "yaw": 99.14043426513672
                    }
                },
                "velocity": {
                    "x": -1.2803175449371338,
                    "y": 7.9525275230407715,
                    "z": 0.02231575921177864
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.4028930664062,
                        "y": 3628.87939453125,
                        "z": 370.8935852050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.744102716445923,
                "transform": {
                    "location": {
                        "x": 931.8142700195312,
                        "y": 3558.1162109375,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": 0.0004049230192322284,
                        "pitch": -0.025176076218485832,
                        "yaw": 99.1076889038086
                    }
                },
                "velocity": {
                    "x": -0.5942908525466919,
                    "y": 3.696636199951172,
                    "z": 0.002169427927583456
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.342344760894775,
                "transform": {
                    "location": {
                        "x": 929.923095703125,
                        "y": 3568.881591796875,
                        "z": 370.8766174316406
                    },
                    "rotation": {
                        "roll": -0.39358505606651306,
                        "pitch": 0.4091078042984009,
                        "yaw": 102.88231658935547
                    }
                },
                "velocity": {
                    "x": -1.4635170698165894,
                    "y": 5.137969970703125,
                    "z": 0.005573911592364311
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 948.0219116210938,
                        "y": 3478.489501953125,
                        "z": 370.65972900390625
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04840087890625,
                "transform": {
                    "location": {
                        "x": 938.953125,
                        "y": 3534.21044921875,
                        "z": 370.8324890136719
                    },
                    "rotation": {
                        "roll": 0.00041313390829600394,
                        "pitch": 0.1172880008816719,
                        "yaw": 99.12944793701172
                    }
                },
                "velocity": {
                    "x": -1.2785799503326416,
                    "y": 7.946176528930664,
                    "z": 0.01667582429945469
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.263315677642822,
                "transform": {
                    "location": {
                        "x": 936.0393676757812,
                        "y": 3552.319580078125,
                        "z": 370.8687744140625
                    },
                    "rotation": {
                        "roll": 9.666487312642857e-05,
                        "pitch": 0.042470112442970276,
                        "yaw": 99.10166931152344
                    }
                },
                "velocity": {
                    "x": -1.1543734073638916,
                    "y": 7.170989990234375,
                    "z": 0.008852147497236729
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.394047737121582,
                "transform": {
                    "location": {
                        "x": 933.5405883789062,
                        "y": 3567.833740234375,
                        "z": 370.8795166015625
                    },
                    "rotation": {
                        "roll": 0.0017464756965637207,
                        "pitch": 0.022409848868846893,
                        "yaw": 99.15460205078125
                    }
                },
                "velocity": {
                    "x": -0.6978299617767334,
                    "y": 4.338278293609619,
                    "z": 0.005311508197337389
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.033687762916088104,
        "expert_target_speed": 0.8086066258498605,
        "target_point": [
            21.730951790138228,
            -0.2602724249046662
        ],
        "target_point_next": [
            40.22875480661048,
            -0.5395019511153354
        ]
    },
    "625": {
        "acceleration": [
            -0.12136965990066528,
            0.7858526706695557,
            0.008257292211055756
        ],
        "angular_velocity": [
            0.4245316982269287,
            0.0532696358859539,
            -0.27284708619117737
        ],
        "forward_vector": [
            -0.17341047525405884,
            0.9848436117172241,
            0.003439419437199831
        ],
        "right_vector": [
            -0.9848495125770569,
            -0.1734113246202469,
            -5.167058770894073e-05
        ],
        "location": [
            933.5719604492188,
            3548.24365234375,
            370.855224609375
        ],
        "rotation": [
            0.002960524056106806,
            0.197064608335495,
            99.9862289428711
        ],
        "velocity": [
            -0.12093484401702881,
            0.7122799754142761,
            0.0016646956792101264
        ],
        "speed": 0.7224735288393512,
        "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": 10.894885063171387,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                931.6767578125,
                3558.972412109375,
                370.87640380859375
            ],
            "velocity": [
                -0.5497554540634155,
                3.4193904399871826,
                0.0017027663998305798
            ],
            "speed_kmh": 12.467889381098576,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.5859985351562,
                        "y": 3625.927001953125,
                        "z": 370.8884582519531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.25064468383789,
                "transform": {
                    "location": {
                        "x": 891.3410034179688,
                        "y": 3574.0556640625,
                        "z": 371.21722412109375
                    },
                    "rotation": {
                        "roll": 0.02064153179526329,
                        "pitch": -0.3211349844932556,
                        "yaw": 9.363649368286133
                    }
                },
                "velocity": {
                    "x": 8.141657829284668,
                    "y": 1.3354653120040894,
                    "z": -0.05553150922060013
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.55441951751709,
                "transform": {
                    "location": {
                        "x": 972.112060546875,
                        "y": 3584.1455078125,
                        "z": 370.4989013671875
                    },
                    "rotation": {
                        "roll": 0.006076977122575045,
                        "pitch": 0.5941991209983826,
                        "yaw": -170.62002563476562
                    }
                },
                "velocity": {
                    "x": -7.453055381774902,
                    "y": -1.2302559614181519,
                    "z": 0.08770415931940079
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.8399047851562,
                        "y": 3465.37939453125,
                        "z": 370.60675048828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.6347343921661377,
                "transform": {
                    "location": {
                        "x": 932.9724731445312,
                        "y": 3613.15869140625,
                        "z": 370.8841247558594
                    },
                    "rotation": {
                        "roll": 0.011134806089103222,
                        "pitch": 0.0891203060746193,
                        "yaw": -80.31429290771484
                    }
                },
                "velocity": {
                    "x": 0.6034864783287048,
                    "y": -3.584284543991089,
                    "z": 0.0016470146365463734
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.980586528778076,
                "transform": {
                    "location": {
                        "x": 930.0996704101562,
                        "y": 3610.649658203125,
                        "z": 370.8909606933594
                    },
                    "rotation": {
                        "roll": 0.00444762920960784,
                        "pitch": 0.1828100085258484,
                        "yaw": -80.47354125976562
                    }
                },
                "velocity": {
                    "x": 0.9898669123649597,
                    "y": -5.898098468780518,
                    "z": 0.0031462954357266426
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.122056484222412,
                "transform": {
                    "location": {
                        "x": 935.6890258789062,
                        "y": 3596.60302734375,
                        "z": 370.90264892578125
                    },
                    "rotation": {
                        "roll": -0.0006713881739415228,
                        "pitch": 0.05690913274884224,
                        "yaw": -80.76667785644531
                    }
                },
                "velocity": {
                    "x": 0.8218240737915039,
                    "y": -5.055696487426758,
                    "z": 0.0014184570172801614
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.0661702156066895,
                "transform": {
                    "location": {
                        "x": 912.8267822265625,
                        "y": 3577.531494140625,
                        "z": 371.0603942871094
                    },
                    "rotation": {
                        "roll": -0.00018310337327420712,
                        "pitch": -0.4495835304260254,
                        "yaw": 9.138748168945312
                    }
                },
                "velocity": {
                    "x": 5.0018310546875,
                    "y": 0.8038316369056702,
                    "z": -0.04027144983410835
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.445171356201172,
                "transform": {
                    "location": {
                        "x": 932.5348510742188,
                        "y": 3595.751708984375,
                        "z": 370.8976745605469
                    },
                    "rotation": {
                        "roll": 0.0008647406939417124,
                        "pitch": 0.10418087244033813,
                        "yaw": -80.81199645996094
                    }
                },
                "velocity": {
                    "x": 0.7109305262565613,
                    "y": -4.387951850891113,
                    "z": 0.001213941490277648
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.586883068084717,
                "transform": {
                    "location": {
                        "x": 953.0405883789062,
                        "y": 3581.028564453125,
                        "z": 370.6983642578125
                    },
                    "rotation": {
                        "roll": 0.0006853475933894515,
                        "pitch": 0.5135686993598938,
                        "yaw": -170.74021911621094
                    }
                },
                "velocity": {
                    "x": -4.527018070220947,
                    "y": -0.7375281453132629,
                    "z": 0.04068371653556824
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.8921380043029785,
                "transform": {
                    "location": {
                        "x": 944.1964721679688,
                        "y": 3481.73046875,
                        "z": 370.6802673339844
                    },
                    "rotation": {
                        "roll": -0.03216552734375,
                        "pitch": 0.060426678508520126,
                        "yaw": 99.51715850830078
                    }
                },
                "velocity": {
                    "x": -1.1647446155548096,
                    "y": 6.792918682098389,
                    "z": 0.03452184423804283
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.534719467163086,
                "transform": {
                    "location": {
                        "x": 949.7152099609375,
                        "y": 3489.0537109375,
                        "z": 370.6999206542969
                    },
                    "rotation": {
                        "roll": -0.00079345767153427,
                        "pitch": -0.0316169448196888,
                        "yaw": -80.86048126220703
                    }
                },
                "velocity": {
                    "x": 2.14973783493042,
                    "y": -13.362815856933594,
                    "z": -0.04908216744661331
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.437215805053711,
                "transform": {
                    "location": {
                        "x": 951.936279296875,
                        "y": 3495.705322265625,
                        "z": 370.7169494628906
                    },
                    "rotation": {
                        "roll": 0.0007160844979807734,
                        "pitch": -0.1328744888305664,
                        "yaw": -80.86572265625
                    }
                },
                "velocity": {
                    "x": 1.974793791770935,
                    "y": -12.279359817504883,
                    "z": -0.04277750104665756
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.028722763061523,
                "transform": {
                    "location": {
                        "x": 945.2197265625,
                        "y": 3495.302978515625,
                        "z": 370.7274169921875
                    },
                    "rotation": {
                        "roll": -0.0018005322199314833,
                        "pitch": 0.19491992890834808,
                        "yaw": 99.19294738769531
                    }
                },
                "velocity": {
                    "x": -1.2799218893051147,
                    "y": 7.925998210906982,
                    "z": 0.027232427150011063
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.043906211853027,
                "transform": {
                    "location": {
                        "x": 942.1476440429688,
                        "y": 3514.3623046875,
                        "z": 370.7809753417969
                    },
                    "rotation": {
                        "roll": -0.00024414017389062792,
                        "pitch": 0.1584877073764801,
                        "yaw": 99.13912200927734
                    }
                },
                "velocity": {
                    "x": -1.277671456336975,
                    "y": 7.941758155822754,
                    "z": 0.021469315513968468
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.6014404296875,
                        "y": 3627.64453125,
                        "z": 370.89166259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.4633026123046875,
                "transform": {
                    "location": {
                        "x": 931.6767578125,
                        "y": 3558.972412109375,
                        "z": 370.87640380859375
                    },
                    "rotation": {
                        "roll": -3.0515759135596454e-05,
                        "pitch": 0.06733883172273636,
                        "yaw": 99.1147689819336
                    }
                },
                "velocity": {
                    "x": -0.5497554540634155,
                    "y": 3.4193904399871826,
                    "z": 0.0017027663998305798
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.477980613708496,
                "transform": {
                    "location": {
                        "x": 929.5499877929688,
                        "y": 3570.1513671875,
                        "z": 370.8785095214844
                    },
                    "rotation": {
                        "roll": -0.3997496962547302,
                        "pitch": 0.21264426410198212,
                        "yaw": 105.59835052490234
                    }
                },
                "velocity": {
                    "x": -1.7524759769439697,
                    "y": 5.19009256362915,
                    "z": 0.006151142064481974
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.823861598968506,
                "transform": {
                    "location": {
                        "x": 947.7239379882812,
                        "y": 3480.337646484375,
                        "z": 370.6665954589844
                    },
                    "rotation": {
                        "roll": -0.005340578965842724,
                        "pitch": -0.10150343924760818,
                        "yaw": 99.1650619506836
                    }
                },
                "velocity": {
                    "x": -0.9380120635032654,
                    "y": 5.747796535491943,
                    "z": 0.01808605156838894
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049416542053223,
                "transform": {
                    "location": {
                        "x": 938.6333618164062,
                        "y": 3536.197509765625,
                        "z": 370.8365783691406
                    },
                    "rotation": {
                        "roll": -0.0001525856787338853,
                        "pitch": 0.1182442307472229,
                        "yaw": 99.16211700439453
                    }
                },
                "velocity": {
                    "x": -1.279129147529602,
                    "y": 7.947113990783691,
                    "z": 0.01770669035613537
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.4035115242004395,
                "transform": {
                    "location": {
                        "x": 935.7703857421875,
                        "y": 3553.993408203125,
                        "z": 370.8699645996094
                    },
                    "rotation": {
                        "roll": -0.0006103566265664995,
                        "pitch": 0.14207476377487183,
                        "yaw": 99.12528228759766
                    }
                },
                "velocity": {
                    "x": -1.0171846151351929,
                    "y": 6.322202205657959,
                    "z": 0.007367477286607027
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.126108646392822,
                "transform": {
                    "location": {
                        "x": 933.367919921875,
                        "y": 3568.906494140625,
                        "z": 370.8804931640625
                    },
                    "rotation": {
                        "roll": 5.087206591269933e-05,
                        "pitch": 0.011932339519262314,
                        "yaw": 99.14614868164062
                    }
                },
                "velocity": {
                    "x": -0.65625,
                    "y": 4.073584079742432,
                    "z": 0.004612693563103676
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03011399134993553,
        "expert_target_speed": 1.4112309922230273,
        "target_point": [
            21.605480022915675,
            -0.25160632919528236
        ],
        "target_point_next": [
            40.10338457555169,
            -0.5240264570967508
        ]
    },
    "630": {
        "acceleration": [
            -0.504191517829895,
            2.940506935119629,
            -0.012003324925899506
        ],
        "angular_velocity": [
            0.5332948565483093,
            0.07916602492332458,
            0.01963060349225998
        ],
        "forward_vector": [
            -0.1741352081298828,
            0.9847050309181213,
            0.005736557301133871
        ],
        "right_vector": [
            -0.984721302986145,
            -0.17413777112960815,
            -5.312822395353578e-05
        ],
        "location": [
            933.52685546875,
            3548.5087890625,
            370.8551330566406
        ],
        "rotation": [
            0.0030440730042755604,
            0.3286823332309723,
            100.02850341796875
        ],
        "velocity": [
            -0.2442898452281952,
            1.427672028541565,
            0.0018072413513436913
        ],
        "speed": 1.448421537247221,
        "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": 11.607751846313477,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                931.52099609375,
                3559.94189453125,
                370.8780822753906
            ],
            "velocity": [
                -0.7061765789985657,
                4.37991189956665,
                0.002815151121467352
            ],
            "speed_kmh": 15.971314506878473,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 927.8302001953125,
                        "y": 3624.409912109375,
                        "z": 370.8843688964844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.4752607345581055,
                "transform": {
                    "location": {
                        "x": 893.3139038085938,
                        "y": 3574.378662109375,
                        "z": 371.204833984375
                    },
                    "rotation": {
                        "roll": 0.013361334800720215,
                        "pitch": -0.5772397518157959,
                        "yaw": 9.288252830505371
                    }
                },
                "velocity": {
                    "x": 7.377433776855469,
                    "y": 1.2043817043304443,
                    "z": -0.04957815632224083
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.323634147644043,
                "transform": {
                    "location": {
                        "x": 970.2904663085938,
                        "y": 3583.845458984375,
                        "z": 370.5194091796875
                    },
                    "rotation": {
                        "roll": 0.006016547325998545,
                        "pitch": 0.5740705132484436,
                        "yaw": -170.65599060058594
                    }
                },
                "velocity": {
                    "x": -7.226530075073242,
                    "y": -1.185964822769165,
                    "z": 0.0798204243183136
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.5494995117188,
                        "y": 3467.1845703125,
                        "z": 370.61431884765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.931621551513672,
                "transform": {
                    "location": {
                        "x": 933.1521606445312,
                        "y": 3612.091796875,
                        "z": 370.8836364746094
                    },
                    "rotation": {
                        "roll": 0.008429032750427723,
                        "pitch": 0.4375760555267334,
                        "yaw": -80.3843994140625
                    }
                },
                "velocity": {
                    "x": 0.8176087737083435,
                    "y": -4.863373756408691,
                    "z": 0.0021556757856160402
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.572371482849121,
                "transform": {
                    "location": {
                        "x": 930.3760986328125,
                        "y": 3609.0,
                        "z": 370.89202880859375
                    },
                    "rotation": {
                        "roll": 0.002920411992818117,
                        "pitch": 0.34414589405059814,
                        "yaw": -80.47248840332031
                    }
                },
                "velocity": {
                    "x": 1.2508666515350342,
                    "y": -7.468340873718262,
                    "z": 0.0051862141117453575
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.2972079515457153,
                "transform": {
                    "location": {
                        "x": 935.8455200195312,
                        "y": 3595.6396484375,
                        "z": 370.9078063964844
                    },
                    "rotation": {
                        "roll": -0.00012206935207359493,
                        "pitch": -0.5873347520828247,
                        "yaw": -80.77059173583984
                    }
                },
                "velocity": {
                    "x": 0.20814058184623718,
                    "y": -1.2803993225097656,
                    "z": -0.001854696194641292
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.667599678039551,
                "transform": {
                    "location": {
                        "x": 914.0535888671875,
                        "y": 3577.728759765625,
                        "z": 371.05035400390625
                    },
                    "rotation": {
                        "roll": -0.0012512182584032416,
                        "pitch": -0.4568098485469818,
                        "yaw": 9.136878967285156
                    }
                },
                "velocity": {
                    "x": 4.608241558074951,
                    "y": 0.7410004138946533,
                    "z": -0.038945216685533524
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.279029846191406,
                "transform": {
                    "location": {
                        "x": 932.7297973632812,
                        "y": 3594.548583984375,
                        "z": 370.89801025390625
                    },
                    "rotation": {
                        "roll": 0.0003107702941633761,
                        "pitch": 0.022444000467658043,
                        "yaw": -80.80535125732422
                    }
                },
                "velocity": {
                    "x": 0.6851618885993958,
                    "y": -4.223817825317383,
                    "z": -0.0036155604757368565
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.17465639114379883,
                "transform": {
                    "location": {
                        "x": 952.427001953125,
                        "y": 3580.9287109375,
                        "z": 370.7042541503906
                    },
                    "rotation": {
                        "roll": 0.00010409802780486643,
                        "pitch": -0.10629139840602875,
                        "yaw": -170.74842834472656
                    }
                },
                "velocity": {
                    "x": -0.17240318655967712,
                    "y": -0.027912897989153862,
                    "z": 0.0016938400221988559
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.638498783111572,
                "transform": {
                    "location": {
                        "x": 943.9105224609375,
                        "y": 3483.3984375,
                        "z": 370.6857604980469
                    },
                    "rotation": {
                        "roll": -0.009368887171149254,
                        "pitch": 0.25963595509529114,
                        "yaw": 99.76773071289062
                    }
                },
                "velocity": {
                    "x": -1.1369094848632812,
                    "y": 6.540375232696533,
                    "z": 0.024386299774050713
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.496696472167969,
                "transform": {
                    "location": {
                        "x": 950.2537841796875,
                        "y": 3485.7060546875,
                        "z": 370.6872253417969
                    },
                    "rotation": {
                        "roll": 5.975780004519038e-05,
                        "pitch": -0.18631389737129211,
                        "yaw": -80.86058044433594
                    }
                },
                "velocity": {
                    "x": 2.143732786178589,
                    "y": -13.325257301330566,
                    "z": -0.05219718813896179
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 986.4259033203125,
                        "y": 3586.569091796875,
                        "z": 370.6051330566406
                    },
                    "rotation": {
                        "roll": 6.670674679298827e-09,
                        "pitch": 0.747953474521637,
                        "yaw": -170.74758911132812
                    }
                },
                "velocity": {
                    "x": -3.937231429773647e-09,
                    "y": -6.41387387645409e-10,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.346250534057617,
                "transform": {
                    "location": {
                        "x": 952.4498291015625,
                        "y": 3492.513916015625,
                        "z": 370.7047424316406
                    },
                    "rotation": {
                        "roll": -0.00021362706320360303,
                        "pitch": 0.08378592878580093,
                        "yaw": -80.8573989868164
                    }
                },
                "velocity": {
                    "x": 2.1203980445861816,
                    "y": -13.176644325256348,
                    "z": -0.04844820871949196
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.017542839050293,
                "transform": {
                    "location": {
                        "x": 944.900146484375,
                        "y": 3497.28076171875,
                        "z": 370.7341003417969
                    },
                    "rotation": {
                        "roll": 0.00031663160189054906,
                        "pitch": 0.18571966886520386,
                        "yaw": 99.20923614501953
                    }
                },
                "velocity": {
                    "x": -1.2802538871765137,
                    "y": 7.914623737335205,
                    "z": 0.0261155404150486
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054253578186035,
                "transform": {
                    "location": {
                        "x": 941.827880859375,
                        "y": 3516.349365234375,
                        "z": 370.7864685058594
                    },
                    "rotation": {
                        "roll": 0.00024401344126090407,
                        "pitch": 0.15928000211715698,
                        "yaw": 99.1454849243164
                    }
                },
                "velocity": {
                    "x": -1.2801591157913208,
                    "y": 7.951839447021484,
                    "z": 0.021112317219376564
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.733642578125,
                        "y": 3626.8212890625,
                        "z": 370.8894348144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.436476230621338,
                "transform": {
                    "location": {
                        "x": 931.52099609375,
                        "y": 3559.94189453125,
                        "z": 370.8780822753906
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": -0.022799169644713402,
                        "yaw": 99.1222152709961
                    }
                },
                "velocity": {
                    "x": -0.7061765789985657,
                    "y": 4.37991189956665,
                    "z": 0.002815151121467352
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.233544826507568,
                "transform": {
                    "location": {
                        "x": 928.9180908203125,
                        "y": 3571.6748046875,
                        "z": 370.8821105957031
                    },
                    "rotation": {
                        "roll": -0.886566162109375,
                        "pitch": 0.7124775052070618,
                        "yaw": 111.89320373535156
                    }
                },
                "velocity": {
                    "x": -3.3328726291656494,
                    "y": 6.4198784828186035,
                    "z": 0.03594978153705597
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.549726963043213,
                "transform": {
                    "location": {
                        "x": 947.4888305664062,
                        "y": 3481.73828125,
                        "z": 370.6716003417969
                    },
                    "rotation": {
                        "roll": -0.013092038221657276,
                        "pitch": 0.10278067737817764,
                        "yaw": 99.49002075195312
                    }
                },
                "velocity": {
                    "x": -0.9302605986595154,
                    "y": 5.471165657043457,
                    "z": 0.020809058099985123
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048320770263672,
                "transform": {
                    "location": {
                        "x": 938.3134155273438,
                        "y": 3538.18359375,
                        "z": 370.8406677246094
                    },
                    "rotation": {
                        "roll": 0.0006606820970773697,
                        "pitch": 0.11833985149860382,
                        "yaw": 99.13461303710938
                    }
                },
                "velocity": {
                    "x": -1.2789543867111206,
                    "y": 7.946033000946045,
                    "z": 0.01750529184937477
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.197350025177002,
                "transform": {
                    "location": {
                        "x": 935.5321655273438,
                        "y": 3555.473388671875,
                        "z": 370.87127685546875
                    },
                    "rotation": {
                        "roll": -0.000946052314247936,
                        "pitch": 0.1771136224269867,
                        "yaw": 99.11805725097656
                    }
                },
                "velocity": {
                    "x": -0.8246963024139404,
                    "y": 5.131500244140625,
                    "z": 0.0050794887356460094
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.166425704956055,
                "transform": {
                    "location": {
                        "x": 933.2026977539062,
                        "y": 3569.9326171875,
                        "z": 370.8815002441406
                    },
                    "rotation": {
                        "roll": 0.000508115510456264,
                        "pitch": 0.045311473309993744,
                        "yaw": 99.14824676513672
                    }
                },
                "velocity": {
                    "x": -0.6624244451522827,
                    "y": 4.113428115844727,
                    "z": 0.002657384844496846
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.028364233672618866,
        "expert_target_speed": 2.2108291035584475,
        "target_point": [
            21.336348351370752,
            -0.26578434489556235
        ],
        "target_point_next": [
            39.834046984024084,
            -0.5518452825520672
        ]
    },
    "635": {
        "acceleration": [
            -0.4532349109649658,
            2.7003121376037598,
            0.008096501231193542
        ],
        "angular_velocity": [
            0.12080814689397812,
            0.004198817070573568,
            -0.40012335777282715
        ],
        "forward_vector": [
            -0.1723349392414093,
            0.9850211143493652,
            0.005843367427587509
        ],
        "right_vector": [
            -0.9850380420684814,
            -0.17233718931674957,
            -0.00011838693171739578
        ],
        "location": [
            933.4557495117188,
            3548.9248046875,
            370.8556823730469
        ],
        "rotation": [
            0.006783186923712492,
            0.33480218052864075,
            99.92377471923828
        ],
        "velocity": [
            -0.328551322221756,
            1.9396984577178955,
            0.002236928790807724
        ],
        "speed": 1.9673271406166404,
        "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": 12.418524742126465,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                931.3251953125,
                3561.1591796875,
                370.8795166015625
            ],
            "velocity": [
                -0.8052456974983215,
                5.000241756439209,
                0.005357084330171347
            ],
            "speed_kmh": 18.23280657854718,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.1192016601562,
                        "y": 3622.6142578125,
                        "z": 370.88287353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.12116813659668,
                "transform": {
                    "location": {
                        "x": 895.078369140625,
                        "y": 3574.66650390625,
                        "z": 371.1929626464844
                    },
                    "rotation": {
                        "roll": 0.009924626909196377,
                        "pitch": -0.6208505034446716,
                        "yaw": 9.263456344604492
                    }
                },
                "velocity": {
                    "x": 7.028870582580566,
                    "y": 1.141758680343628,
                    "z": -0.049007389694452286
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.191381454467773,
                "transform": {
                    "location": {
                        "x": 968.4927978515625,
                        "y": 3583.55078125,
                        "z": 370.5391845703125
                    },
                    "rotation": {
                        "roll": 0.002554489765316248,
                        "pitch": 0.5689274072647095,
                        "yaw": -170.68678283691406
                    }
                },
                "velocity": {
                    "x": -7.096354007720947,
                    "y": -1.1627274751663208,
                    "z": 0.07607044279575348
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.2992553710938,
                        "y": 3468.739990234375,
                        "z": 370.6209411621094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.405377388000488,
                "transform": {
                    "location": {
                        "x": 933.3729248046875,
                        "y": 3610.778564453125,
                        "z": 370.88494873046875
                    },
                    "rotation": {
                        "roll": 0.004153972025960684,
                        "pitch": 0.36280596256256104,
                        "yaw": -80.4106216430664
                    }
                },
                "velocity": {
                    "x": 0.8951883316040039,
                    "y": -5.330733299255371,
                    "z": 0.004970769863575697
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.48868465423584,
                "transform": {
                    "location": {
                        "x": 930.6643676757812,
                        "y": 3607.272705078125,
                        "z": 370.89306640625
                    },
                    "rotation": {
                        "roll": 0.005368619225919247,
                        "pitch": -0.17113721370697021,
                        "yaw": -80.36338806152344
                    }
                },
                "velocity": {
                    "x": 0.8953865766525269,
                    "y": -5.415156364440918,
                    "z": 0.004520683083683252
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00721609964966774,
                "transform": {
                    "location": {
                        "x": 935.8497924804688,
                        "y": 3595.61328125,
                        "z": 370.9084777832031
                    },
                    "rotation": {
                        "roll": 0.00028646198916248977,
                        "pitch": -0.6929909586906433,
                        "yaw": -80.77091979980469
                    }
                },
                "velocity": {
                    "x": -0.0010483384830877185,
                    "y": 0.007011057808995247,
                    "z": -0.0013483866350725293
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.1134891510009766,
                "transform": {
                    "location": {
                        "x": 915.0062866210938,
                        "y": 3577.87158203125,
                        "z": 371.04296875
                    },
                    "rotation": {
                        "roll": 0.00787466112524271,
                        "pitch": -0.48602256178855896,
                        "yaw": 8.73563289642334
                    }
                },
                "velocity": {
                    "x": 3.0854530334472656,
                    "y": 0.4161643385887146,
                    "z": -0.024518383666872978
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008674607379361987,
                "transform": {
                    "location": {
                        "x": 932.8114624023438,
                        "y": 3594.044189453125,
                        "z": 370.8971252441406
                    },
                    "rotation": {
                        "roll": 0.0002543825830798596,
                        "pitch": -0.5428770780563354,
                        "yaw": -80.75957489013672
                    }
                },
                "velocity": {
                    "x": -0.000154014109284617,
                    "y": -0.00022629438899457455,
                    "z": -0.0008231395040638745
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.005359852220863104,
                "transform": {
                    "location": {
                        "x": 952.4244384765625,
                        "y": 3580.927978515625,
                        "z": 370.70440673828125
                    },
                    "rotation": {
                        "roll": 0.0005894622881896794,
                        "pitch": 0.3050703704357147,
                        "yaw": -170.74876403808594
                    }
                },
                "velocity": {
                    "x": 0.005228928755968809,
                    "y": 0.0005360892973840237,
                    "z": 0.001048297737725079
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.562946319580078,
                "transform": {
                    "location": {
                        "x": 943.6519165039062,
                        "y": 3484.90771484375,
                        "z": 370.6932678222656
                    },
                    "rotation": {
                        "roll": 0.018876494839787483,
                        "pitch": 0.011829886585474014,
                        "yaw": 99.75479125976562
                    }
                },
                "velocity": {
                    "x": -0.9283445477485657,
                    "y": 5.484899044036865,
                    "z": 0.02072709985077381
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.359963417053223,
                "transform": {
                    "location": {
                        "x": 950.7860107421875,
                        "y": 3482.397705078125,
                        "z": 370.673828125
                    },
                    "rotation": {
                        "roll": 0.00013293640222400427,
                        "pitch": -0.24176135659217834,
                        "yaw": -80.86034393310547
                    }
                },
                "velocity": {
                    "x": 2.1220390796661377,
                    "y": -13.190250396728516,
                    "z": -0.053554143756628036
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.2237677127122879,
                "transform": {
                    "location": {
                        "x": 986.4241333007812,
                        "y": 3586.568603515625,
                        "z": 370.26177978515625
                    },
                    "rotation": {
                        "roll": 0.00010285509779350832,
                        "pitch": 0.7464986443519592,
                        "yaw": -170.74765014648438
                    }
                },
                "velocity": {
                    "x": -0.0028059023898094893,
                    "y": -0.0005231050890870392,
                    "z": -0.22374950349330902
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.533985137939453,
                "transform": {
                    "location": {
                        "x": 952.9867553710938,
                        "y": 3489.177490234375,
                        "z": 370.6927185058594
                    },
                    "rotation": {
                        "roll": -0.0003356939705554396,
                        "pitch": -0.014493661001324654,
                        "yaw": -80.85563659667969
                    }
                },
                "velocity": {
                    "x": 2.149456739425659,
                    "y": -13.362117767333984,
                    "z": -0.04888233169913292
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.042089462280273,
                "transform": {
                    "location": {
                        "x": 944.57958984375,
                        "y": 3499.263427734375,
                        "z": 370.7406311035156
                    },
                    "rotation": {
                        "roll": -3.0522562155965716e-05,
                        "pitch": 0.18362963199615479,
                        "yaw": 99.1604995727539
                    }
                },
                "velocity": {
                    "x": -1.2814178466796875,
                    "y": 7.939303874969482,
                    "z": 0.02503262460231781
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044061660766602,
                "transform": {
                    "location": {
                        "x": 941.5079956054688,
                        "y": 3518.3359375,
                        "z": 370.7920227050781
                    },
                    "rotation": {
                        "roll": 0.0006987163214944303,
                        "pitch": 0.15856283903121948,
                        "yaw": 99.14646911621094
                    }
                },
                "velocity": {
                    "x": -1.2786654233932495,
                    "y": 7.9417548179626465,
                    "z": 0.02198558673262596
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 930.9324951171875,
                        "y": 3625.5869140625,
                        "z": 370.8860778808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.064668655395508,
                "transform": {
                    "location": {
                        "x": 931.3251953125,
                        "y": 3561.1591796875,
                        "z": 370.8795166015625
                    },
                    "rotation": {
                        "roll": 0.00033260989584960043,
                        "pitch": -0.027498340234160423,
                        "yaw": 99.13211822509766
                    }
                },
                "velocity": {
                    "x": -0.8052456974983215,
                    "y": 5.000241756439209,
                    "z": 0.005357084330171347
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.327943801879883,
                "transform": {
                    "location": {
                        "x": 927.84375,
                        "y": 3573.311279296875,
                        "z": 370.8916320800781
                    },
                    "rotation": {
                        "roll": -1.891388177871704,
                        "pitch": 0.9806170463562012,
                        "yaw": 123.89774322509766
                    }
                },
                "velocity": {
                    "x": -5.382909297943115,
                    "y": 6.353763103485107,
                    "z": 0.09288515150547028
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.767100811004639,
                "transform": {
                    "location": {
                        "x": 947.2493286132812,
                        "y": 3483.13427734375,
                        "z": 370.67724609375
                    },
                    "rotation": {
                        "roll": -0.0067138769663870335,
                        "pitch": 0.20145641267299652,
                        "yaw": 99.6952133178711
                    }
                },
                "velocity": {
                    "x": -0.9794146418571472,
                    "y": 5.683282852172852,
                    "z": 0.02226661704480648
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.48162841796875,
                "transform": {
                    "location": {
                        "x": 938.0004272460938,
                        "y": 3540.12744140625,
                        "z": 370.8445739746094
                    },
                    "rotation": {
                        "roll": 0.0004730057262349874,
                        "pitch": 0.04575543478131294,
                        "yaw": 99.16267395019531
                    }
                },
                "velocity": {
                    "x": -1.1887673139572144,
                    "y": 7.386567115783691,
                    "z": 0.014997081831097603
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.095108509063721,
                "transform": {
                    "location": {
                        "x": 935.3319091796875,
                        "y": 3556.717529296875,
                        "z": 370.8733215332031
                    },
                    "rotation": {
                        "roll": -0.0009155334555543959,
                        "pitch": 0.09841618686914444,
                        "yaw": 99.11656951904297
                    }
                },
                "velocity": {
                    "x": -0.8077853322029114,
                    "y": 5.030660629272461,
                    "z": 0.008014068007469177
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.141949653625488,
                "transform": {
                    "location": {
                        "x": 933.0432739257812,
                        "y": 3570.92333984375,
                        "z": 370.8845520019531
                    },
                    "rotation": {
                        "roll": 0.0007058331975713372,
                        "pitch": 0.15413004159927368,
                        "yaw": 99.14312744140625
                    }
                },
                "velocity": {
                    "x": -0.6567920446395874,
                    "y": 4.089488506317139,
                    "z": 0.0213470458984375
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.024677196517586708,
        "expert_target_speed": 2.798192860607293,
        "target_point": [
            20.91475308579921,
            -0.22513411874779488
        ],
        "target_point_next": [
            39.41294366032697,
            -0.4773860423684191
        ]
    },
    "640": {
        "acceleration": [
            -0.6570577621459961,
            4.098324775695801,
            -0.0017557153478264809
        ],
        "angular_velocity": [
            0.4286579191684723,
            0.04218839854001999,
            -0.5933628082275391
        ],
        "forward_vector": [
            -0.17017294466495514,
            0.9853869080543518,
            0.0073382193222641945
        ],
        "right_vector": [
            -0.985413670539856,
            -0.17017604410648346,
            -0.00020557244715746492
        ],
        "location": [
            933.35498046875,
            3549.521240234375,
            370.856201171875
        ],
        "rotation": [
            0.011778751388192177,
            0.4204527735710144,
            99.79814147949219
        ],
        "velocity": [
            -0.47446635365486145,
            2.837679147720337,
            0.002063922816887498
        ],
        "speed": 2.877071647727487,
        "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": 13.070207595825195,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                931.1256713867188,
                3562.39990234375,
                370.8800048828125
            ],
            "velocity": [
                -0.8099228739738464,
                5.035037040710449,
                0.005814628675580025
            ],
            "speed_kmh": 18.359155347518723,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 880.44921875,
                        "y": 3572.22021484375,
                        "z": 371.4855041503906
                    },
                    "rotation": {
                        "roll": -3.3351124084646244e-09,
                        "pitch": -0.3413386940956116,
                        "yaw": 9.140239715576172
                    }
                },
                "velocity": {
                    "x": -9.63898516559425e-10,
                    "y": -1.5508573592004637e-10,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.2813720703125,
                        "y": 3621.60546875,
                        "z": 370.88336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.664243698120117,
                "transform": {
                    "location": {
                        "x": 896.9191284179688,
                        "y": 3574.96484375,
                        "z": 371.17901611328125
                    },
                    "rotation": {
                        "roll": 0.006976227276027203,
                        "pitch": -0.3194274306297302,
                        "yaw": 9.217206954956055
                    }
                },
                "velocity": {
                    "x": 7.56543493270874,
                    "y": 1.225566029548645,
                    "z": -0.053079571574926376
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.8207197189331055,
                "transform": {
                    "location": {
                        "x": 966.7677001953125,
                        "y": 3583.26806640625,
                        "z": 370.557373046875
                    },
                    "rotation": {
                        "roll": 0.00181045092176646,
                        "pitch": 0.5411080718040466,
                        "yaw": -170.69480895996094
                    }
                },
                "velocity": {
                    "x": -6.730741024017334,
                    "y": -1.1019172668457031,
                    "z": 0.07157772034406662
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 946.0888671875,
                        "y": 3470.04736328125,
                        "z": 370.62640380859375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.6636433601379395,
                "transform": {
                    "location": {
                        "x": 933.6223754882812,
                        "y": 3609.29345703125,
                        "z": 370.8853454589844
                    },
                    "rotation": {
                        "roll": 0.005100543145090342,
                        "pitch": 0.5155972838401794,
                        "yaw": -80.47911071777344
                    }
                },
                "velocity": {
                    "x": 1.101482629776001,
                    "y": -6.571974277496338,
                    "z": 0.005356521345674992
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.4891555309295654,
                "transform": {
                    "location": {
                        "x": 930.8056030273438,
                        "y": 3606.415283203125,
                        "z": 370.8933410644531
                    },
                    "rotation": {
                        "roll": -0.004028329160064459,
                        "pitch": -0.32678353786468506,
                        "yaw": -80.3697280883789
                    }
                },
                "velocity": {
                    "x": 0.5703479051589966,
                    "y": -3.4422240257263184,
                    "z": 0.0019374178955331445
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0029378607869148254,
                "transform": {
                    "location": {
                        "x": 935.8507690429688,
                        "y": 3595.607421875,
                        "z": 370.90240478515625
                    },
                    "rotation": {
                        "roll": 0.00015554360288660973,
                        "pitch": 0.05125373601913452,
                        "yaw": -80.77104187011719
                    }
                },
                "velocity": {
                    "x": -0.0005427768919616938,
                    "y": 0.0028867688961327076,
                    "z": 5.462761691887863e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.3686239719390869,
                "transform": {
                    "location": {
                        "x": 915.5430297851562,
                        "y": 3577.9462890625,
                        "z": 371.0389709472656
                    },
                    "rotation": {
                        "roll": 0.005494251847267151,
                        "pitch": -0.5111986398696899,
                        "yaw": 8.353160858154297
                    }
                },
                "velocity": {
                    "x": 0.36550629138946533,
                    "y": 0.04767860472202301,
                    "z": -0.00394098274409771
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002161022974178195,
                "transform": {
                    "location": {
                        "x": 932.8118286132812,
                        "y": 3594.04248046875,
                        "z": 370.8976135253906
                    },
                    "rotation": {
                        "roll": 0.0008270702091977,
                        "pitch": -0.17093230783939362,
                        "yaw": -80.75965118408203
                    }
                },
                "velocity": {
                    "x": -0.0006010182551108301,
                    "y": 0.002029296476393938,
                    "z": 0.0004367530345916748
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0017666096100583673,
                "transform": {
                    "location": {
                        "x": 952.4231567382812,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.00036620700848288834,
                        "pitch": 0.5157680511474609,
                        "yaw": -170.7487335205078
                    }
                },
                "velocity": {
                    "x": 0.0012532355030998588,
                    "y": -9.400033013662323e-05,
                    "z": 0.001241561258211732
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.054774284362793,
                "transform": {
                    "location": {
                        "x": 943.4334106445312,
                        "y": 3486.1982421875,
                        "z": 370.6979064941406
                    },
                    "rotation": {
                        "roll": 0.008527498692274094,
                        "pitch": 0.03854275494813919,
                        "yaw": 99.63685607910156
                    }
                },
                "velocity": {
                    "x": -0.837458610534668,
                    "y": 4.9848785400390625,
                    "z": 0.019735975190997124
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.2361450195312,
                        "y": 3479.01025390625,
                        "z": 370.65972900390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.259098619222641,
                "transform": {
                    "location": {
                        "x": 986.4210815429688,
                        "y": 3586.568115234375,
                        "z": 370.2814025878906
                    },
                    "rotation": {
                        "roll": -0.0016174250049516559,
                        "pitch": 0.765390932559967,
                        "yaw": -170.75225830078125
                    }
                },
                "velocity": {
                    "x": -0.21016904711723328,
                    "y": -0.03842158615589142,
                    "z": 0.14657710492610931
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.360407829284668,
                "transform": {
                    "location": {
                        "x": 953.5201416015625,
                        "y": 3485.86328125,
                        "z": 370.6808166503906
                    },
                    "rotation": {
                        "roll": -0.0001220704143634066,
                        "pitch": -0.20782215893268585,
                        "yaw": -80.8537826538086
                    }
                },
                "velocity": {
                    "x": 2.1229355335235596,
                    "y": -13.190558433532715,
                    "z": -0.05306301638484001
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.029268264770508,
                "transform": {
                    "location": {
                        "x": 944.2598876953125,
                        "y": 3501.246826171875,
                        "z": 370.74713134765625
                    },
                    "rotation": {
                        "roll": 0.00047602798440493643,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.18155670166016
                    }
                },
                "velocity": {
                    "x": -1.2784181833267212,
                    "y": 7.926799297332764,
                    "z": 0.025466298684477806
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055154800415039,
                "transform": {
                    "location": {
                        "x": 941.1881713867188,
                        "y": 3520.32275390625,
                        "z": 370.7975158691406
                    },
                    "rotation": {
                        "roll": 0.001503554405644536,
                        "pitch": 0.158863365650177,
                        "yaw": 99.14305114746094
                    }
                },
                "velocity": {
                    "x": -1.2799289226531982,
                    "y": 7.95278787612915,
                    "z": 0.021614398807287216
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.1259155273438,
                        "y": 3624.385498046875,
                        "z": 370.88287353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.099765300750732,
                "transform": {
                    "location": {
                        "x": 931.1256713867188,
                        "y": 3562.39990234375,
                        "z": 370.8800048828125
                    },
                    "rotation": {
                        "roll": -0.0003662089293356985,
                        "pitch": 0.04120652750134468,
                        "yaw": 99.13971710205078
                    }
                },
                "velocity": {
                    "x": -0.8099228739738464,
                    "y": 5.035037040710449,
                    "z": 0.005814628675580025
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.889330863952637,
                "transform": {
                    "location": {
                        "x": 926.381103515625,
                        "y": 3574.725830078125,
                        "z": 370.9222717285156
                    },
                    "rotation": {
                        "roll": -2.467987060546875,
                        "pitch": 1.2959190607070923,
                        "yaw": 138.06005859375
                    }
                },
                "velocity": {
                    "x": -6.4488444328308105,
                    "y": 4.54391622543335,
                    "z": 0.08229831606149673
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.020954132080078,
                "transform": {
                    "location": {
                        "x": 947.0271606445312,
                        "y": 3484.421875,
                        "z": 370.6822814941406
                    },
                    "rotation": {
                        "roll": 0.004621020518243313,
                        "pitch": 0.15708068013191223,
                        "yaw": 99.7704086303711
                    }
                },
                "velocity": {
                    "x": -0.8420981168746948,
                    "y": 4.949790954589844,
                    "z": 0.020466184243559837
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.841512680053711,
                "transform": {
                    "location": {
                        "x": 937.7301635742188,
                        "y": 3541.80859375,
                        "z": 370.8475036621094
                    },
                    "rotation": {
                        "roll": 0.0006354522774927318,
                        "pitch": -0.11383192986249924,
                        "yaw": 99.13658142089844
                    }
                },
                "velocity": {
                    "x": -0.9279171824455261,
                    "y": 5.767332077026367,
                    "z": 0.01113410945981741
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.454769134521484,
                "transform": {
                    "location": {
                        "x": 935.1255493164062,
                        "y": 3558.001708984375,
                        "z": 370.8753967285156
                    },
                    "rotation": {
                        "roll": -0.00039672967977821827,
                        "pitch": 0.037279170006513596,
                        "yaw": 99.17906951904297
                    }
                },
                "velocity": {
                    "x": -0.8679234981536865,
                    "y": 5.385274410247803,
                    "z": 0.00593609781935811
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.333812713623047,
                "transform": {
                    "location": {
                        "x": 932.8533935546875,
                        "y": 3572.10205078125,
                        "z": 370.8901062011719
                    },
                    "rotation": {
                        "roll": -0.1036681979894638,
                        "pitch": 0.47436344623565674,
                        "yaw": 99.13984680175781
                    }
                },
                "velocity": {
                    "x": -0.8413061499595642,
                    "y": 5.2670159339904785,
                    "z": 0.017472876235842705
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.029566379263997078,
        "expert_target_speed": 3.713131147916433,
        "target_point": [
            20.310312160760017,
            -0.17708227581864433
        ],
        "target_point_next": [
            38.80901128522995,
            -0.3887808040455436
        ]
    },
    "645": {
        "acceleration": [
            -0.7083404064178467,
            4.60085391998291,
            0.024558063596487045
        ],
        "angular_velocity": [
            0.3237208127975464,
            0.012957350350916386,
            -0.8079625368118286
        ],
        "forward_vector": [
            -0.16716018319129944,
            0.9858867526054382,
            0.009204376488924026
        ],
        "right_vector": [
            -0.9859289526939392,
            -0.16716432571411133,
            -0.00032234701211564243
        ],
        "location": [
            933.2127685546875,
            3550.3759765625,
            370.8567810058594
        ],
        "rotation": [
            0.018469905480742455,
            0.5273793935775757,
            99.62316131591797
        ],
        "velocity": [
            -0.6534036993980408,
            3.9753646850585938,
            0.005043754354119301
        ],
        "speed": 4.028704602424712,
        "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": 13.44031047821045,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                930.92919921875,
                3563.620849609375,
                370.8807678222656
            ],
            "velocity": [
                -0.7728613615036011,
                4.80245304107666,
                0.003138322848826647
            ],
            "speed_kmh": 17.511282120227197,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13305994868278503,
                "transform": {
                    "location": {
                        "x": 880.4484252929688,
                        "y": 3572.22021484375,
                        "z": 371.2310791015625
                    },
                    "rotation": {
                        "roll": 9.061663877218962e-05,
                        "pitch": -0.3378894329071045,
                        "yaw": 9.14021110534668
                    }
                },
                "velocity": {
                    "x": 0.0007880405755713582,
                    "y": 8.451439498458058e-05,
                    "z": 0.1330575942993164
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 928.4800415039062,
                        "y": 3620.37109375,
                        "z": 370.88397216796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.100666046142578,
                "transform": {
                    "location": {
                        "x": 898.745849609375,
                        "y": 3575.26123046875,
                        "z": 371.16693115234375
                    },
                    "rotation": {
                        "roll": 0.0039661964401602745,
                        "pitch": -0.5111986398696899,
                        "yaw": 9.206803321838379
                    }
                },
                "velocity": {
                    "x": 7.009012699127197,
                    "y": 1.1360704898834229,
                    "z": -0.05045485496520996
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.018759727478027,
                "transform": {
                    "location": {
                        "x": 965.1815185546875,
                        "y": 3583.0087890625,
                        "z": 370.5742492675781
                    },
                    "rotation": {
                        "roll": 0.0010937359184026718,
                        "pitch": 0.33329954743385315,
                        "yaw": -170.71078491210938
                    }
                },
                "velocity": {
                    "x": -4.952793121337891,
                    "y": -0.8093129396438599,
                    "z": 0.05293826013803482
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.8140258789062,
                        "y": 3471.7548828125,
                        "z": 370.633544921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.755526065826416,
                "transform": {
                    "location": {
                        "x": 933.8744506835938,
                        "y": 3607.77490234375,
                        "z": 370.8888244628906
                    },
                    "rotation": {
                        "roll": 0.012962148524820805,
                        "pitch": -0.13773076236248016,
                        "yaw": -80.39752960205078
                    }
                },
                "velocity": {
                    "x": 0.7715869545936584,
                    "y": -4.692511081695557,
                    "z": 0.0047336481511592865
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.878387928009033,
                "transform": {
                    "location": {
                        "x": 930.9793701171875,
                        "y": 3605.36376953125,
                        "z": 370.8943176269531
                    },
                    "rotation": {
                        "roll": 0.002132977358996868,
                        "pitch": 0.18201087415218353,
                        "yaw": -80.50818634033203
                    }
                },
                "velocity": {
                    "x": 0.7937990427017212,
                    "y": -4.813371658325195,
                    "z": 0.0020261858589947224
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0013265503803268075,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 9.396833775099367e-05,
                    "y": -0.0009271856979466975,
                    "z": 0.0009440510766580701
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00019376982527319342,
                "transform": {
                    "location": {
                        "x": 915.5449829101562,
                        "y": 3577.946533203125,
                        "z": 371.0386962890625
                    },
                    "rotation": {
                        "roll": 0.005660494789481163,
                        "pitch": -0.4847384989261627,
                        "yaw": 8.349834442138672
                    }
                },
                "velocity": {
                    "x": -2.9088780138408765e-05,
                    "y": 2.5276038286392577e-05,
                    "z": -0.00018989921954926103
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008632890530861914,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8977966308594
                    },
                    "rotation": {
                        "roll": -0.00015258872008416802,
                        "pitch": -0.0403459258377552,
                        "yaw": -80.7596435546875
                    }
                },
                "velocity": {
                    "x": -0.0001666342286625877,
                    "y": 0.0005007183644920588,
                    "z": 0.0006832145736552775
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.629108905792236,
                "transform": {
                    "location": {
                        "x": 943.1997680664062,
                        "y": 3487.587158203125,
                        "z": 370.6998291015625
                    },
                    "rotation": {
                        "roll": 0.0056411209516227245,
                        "pitch": 0.4647670388221741,
                        "yaw": 99.50719451904297
                    }
                },
                "velocity": {
                    "x": -1.091455340385437,
                    "y": 6.5385942459106445,
                    "z": 0.024385470896959305
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86256,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 951.7833251953125,
                        "y": 3475.580810546875,
                        "z": 370.6453552246094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5670077800750732,
                "transform": {
                    "location": {
                        "x": 986.1658325195312,
                        "y": 3586.522705078125,
                        "z": 370.3079528808594
                    },
                    "rotation": {
                        "roll": -0.018127435818314552,
                        "pitch": 1.1201919317245483,
                        "yaw": -170.63864135742188
                    }
                },
                "velocity": {
                    "x": -1.540347695350647,
                    "y": -0.2770257592201233,
                    "z": 0.07809562236070633
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.03271484375,
                        "y": 3482.539306640625,
                        "z": 370.6684265136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030113220214844,
                "transform": {
                    "location": {
                        "x": 943.940185546875,
                        "y": 3503.22802734375,
                        "z": 370.7533264160156
                    },
                    "rotation": {
                        "roll": 0.0001676538959145546,
                        "pitch": 0.17326822876930237,
                        "yaw": 99.13744354248047
                    }
                },
                "velocity": {
                    "x": -1.2777670621871948,
                    "y": 7.927761554718018,
                    "z": 0.025074852630496025
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044271469116211,
                "transform": {
                    "location": {
                        "x": 940.8684692382812,
                        "y": 3522.3095703125,
                        "z": 370.80291748046875
                    },
                    "rotation": {
                        "roll": 0.0011878502555191517,
                        "pitch": 0.15578295290470123,
                        "yaw": 99.14347076416016
                    }
                },
                "velocity": {
                    "x": -1.2782739400863647,
                    "y": 7.9420318603515625,
                    "z": 0.02109706774353981
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.3919067382812,
                        "y": 3622.733642578125,
                        "z": 370.8826599121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.8642449378967285,
                "transform": {
                    "location": {
                        "x": 930.92919921875,
                        "y": 3563.620849609375,
                        "z": 370.8807678222656
                    },
                    "rotation": {
                        "roll": 3.668560793812503e-06,
                        "pitch": 0.06422426551580429,
                        "yaw": 99.14269256591797
                    }
                },
                "velocity": {
                    "x": -0.7728613615036011,
                    "y": 4.80245304107666,
                    "z": 0.003138322848826647
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.891478061676025,
                "transform": {
                    "location": {
                        "x": 924.6838989257812,
                        "y": 3575.613037109375,
                        "z": 370.95440673828125
                    },
                    "rotation": {
                        "roll": -3.130249261856079,
                        "pitch": 0.9075408577919006,
                        "yaw": 154.010986328125
                    }
                },
                "velocity": {
                    "x": -7.480909824371338,
                    "y": 2.5092732906341553,
                    "z": 0.12232881039381027
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.773745059967041,
                "transform": {
                    "location": {
                        "x": 946.80224609375,
                        "y": 3485.75244140625,
                        "z": 370.6877746582031
                    },
                    "rotation": {
                        "roll": 0.006418942473828793,
                        "pitch": 0.2957403361797333,
                        "yaw": 99.65555572509766
                    }
                },
                "velocity": {
                    "x": -0.9604565501213074,
                    "y": 5.693258762359619,
                    "z": 0.021406250074505806
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8803017139434814,
                "transform": {
                    "location": {
                        "x": 937.5609130859375,
                        "y": 3542.864013671875,
                        "z": 370.8489685058594
                    },
                    "rotation": {
                        "roll": 0.0009139166795648634,
                        "pitch": -0.1969621479511261,
                        "yaw": 98.97663879394531
                    }
                },
                "velocity": {
                    "x": -0.6125413775444031,
                    "y": 3.831643581390381,
                    "z": 0.006414833012968302
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.435579776763916,
                "transform": {
                    "location": {
                        "x": 934.89453125,
                        "y": 3559.43798828125,
                        "z": 370.8774108886719
                    },
                    "rotation": {
                        "roll": -0.0004272454243618995,
                        "pitch": -0.039519473910331726,
                        "yaw": 99.22260284423828
                    }
                },
                "velocity": {
                    "x": -1.0229551792144775,
                    "y": 6.353756427764893,
                    "z": 0.005629920866340399
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.45177698135376,
                "transform": {
                    "location": {
                        "x": 932.6400756835938,
                        "y": 3573.431396484375,
                        "z": 370.89453125
                    },
                    "rotation": {
                        "roll": -0.2477722018957138,
                        "pitch": 0.45202872157096863,
                        "yaw": 99.14753723144531
                    }
                },
                "velocity": {
                    "x": -0.8615666031837463,
                    "y": 5.383187770843506,
                    "z": 0.02938224747776985
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03253045678138733,
        "expert_target_speed": 4.797701881503826,
        "target_point": [
            19.44427611705481,
            -0.1123825226642774
        ],
        "target_point_next": [
            37.94353548502079,
            -0.2675869080432234
        ]
    },
    "650": {
        "acceleration": [
            -0.6256747245788574,
            4.363794326782227,
            0.06044026464223862
        ],
        "angular_velocity": [
            0.05782938003540039,
            -0.0853537991642952,
            -0.9918330311775208
        ],
        "forward_vector": [
            -0.16324181854724884,
            0.9865379929542542,
            0.009742820635437965
        ],
        "right_vector": [
            -0.9865854382514954,
            -0.16324488818645477,
            -0.0004853000573348254
        ],
        "location": [
            933.0272216796875,
            3551.513427734375,
            370.8584289550781
        ],
        "rotation": [
            0.0278069656342268,
            0.5582313537597656,
            99.39556121826172
        ],
        "velocity": [
            -0.8152673840522766,
            5.074549674987793,
            0.009208908304572105
        ],
        "speed": 5.13962209811365,
        "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": 13.484643936157227,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                930.739013671875,
                3564.802490234375,
                370.8817138671875
            ],
            "velocity": [
                -0.7475730180740356,
                4.6448774337768555,
                0.005379047244787216
            ],
            "speed_kmh": 16.93675878711719,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13216230273246765,
                "transform": {
                    "location": {
                        "x": 880.4486694335938,
                        "y": 3572.22021484375,
                        "z": 371.2822570800781
                    },
                    "rotation": {
                        "roll": 0.0006560797337442636,
                        "pitch": -0.3381967842578888,
                        "yaw": 9.140206336975098
                    }
                },
                "velocity": {
                    "x": 0.0007949057035148144,
                    "y": 0.00013061125355307013,
                    "z": 0.13215984404087067
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.884931564331055,
                "transform": {
                    "location": {
                        "x": 928.741455078125,
                        "y": 3618.78857421875,
                        "z": 370.88031005859375
                    },
                    "rotation": {
                        "roll": -0.007293700240552425,
                        "pitch": 0.02572249062359333,
                        "yaw": -80.6015853881836
                    }
                },
                "velocity": {
                    "x": 1.3261579275131226,
                    "y": -7.772588729858398,
                    "z": -0.01773420348763466
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.670045852661133,
                "transform": {
                    "location": {
                        "x": 900.4271850585938,
                        "y": 3575.532958984375,
                        "z": 371.15521240234375
                    },
                    "rotation": {
                        "roll": 0.0068090129643678665,
                        "pitch": -0.587710440158844,
                        "yaw": 9.18950366973877
                    }
                },
                "velocity": {
                    "x": 6.584560871124268,
                    "y": 1.0633604526519775,
                    "z": -0.04836205765604973
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.008814388886094093,
                "transform": {
                    "location": {
                        "x": 964.7428588867188,
                        "y": 3582.93701171875,
                        "z": 370.5783996582031
                    },
                    "rotation": {
                        "roll": 0.0005306230159476399,
                        "pitch": -0.3091753125190735,
                        "yaw": -170.7149200439453
                    }
                },
                "velocity": {
                    "x": 0.00855290424078703,
                    "y": 0.0015513717662543058,
                    "z": 0.0014609982026740909
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.536865234375,
                        "y": 3473.47802734375,
                        "z": 370.64080810546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23777936398983002,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6901745796203613,
                "transform": {
                    "location": {
                        "x": 933.955810546875,
                        "y": 3607.259521484375,
                        "z": 370.89251708984375
                    },
                    "rotation": {
                        "roll": -0.01763920485973358,
                        "pitch": -1.114625334739685,
                        "yaw": -80.19062042236328
                    }
                },
                "velocity": {
                    "x": 0.2745972275733948,
                    "y": -1.6677188873291016,
                    "z": 0.0004983520484529436
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.908837080001831,
                "transform": {
                    "location": {
                        "x": 931.1641235351562,
                        "y": 3604.240966796875,
                        "z": 370.8949890136719
                    },
                    "rotation": {
                        "roll": 0.001689535565674305,
                        "pitch": -0.060365207493305206,
                        "yaw": -80.59677124023438
                    }
                },
                "velocity": {
                    "x": 0.6334255933761597,
                    "y": -3.8571717739105225,
                    "z": 0.0024840927217155695
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4852138519927394e-05,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.0385437011719
                    },
                    "rotation": {
                        "roll": 0.005074676126241684,
                        "pitch": -0.46316877007484436,
                        "yaw": 8.349791526794434
                    }
                },
                "velocity": {
                    "x": 1.2333542144915555e-05,
                    "y": -7.675029337406158e-06,
                    "z": -3.092521637881873e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011215298436582088,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8977966308594
                    },
                    "rotation": {
                        "roll": 0.0007628525490872562,
                        "pitch": -0.013762830756604671,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": -7.273034134414047e-05,
                    "y": 8.906181756174192e-05,
                    "z": 0.0011156197870150208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.355096817016602,
                "transform": {
                    "location": {
                        "x": 942.9098510742188,
                        "y": 3489.327392578125,
                        "z": 370.7058410644531
                    },
                    "rotation": {
                        "roll": 0.00834389217197895,
                        "pitch": 0.5143337249755859,
                        "yaw": 99.50550079345703
                    }
                },
                "velocity": {
                    "x": -1.2000528573989868,
                    "y": 7.2564897537231445,
                    "z": 0.02599307894706726
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.5383622646331787,
                "transform": {
                    "location": {
                        "x": 985.6608276367188,
                        "y": 3586.436279296875,
                        "z": 370.32244873046875
                    },
                    "rotation": {
                        "roll": -0.0013427704107016325,
                        "pitch": 1.1801472902297974,
                        "yaw": -170.5774688720703
                    }
                },
                "velocity": {
                    "x": -2.501307725906372,
                    "y": -0.4294607937335968,
                    "z": 0.04802709445357323
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 954.516845703125,
                        "y": 3479.1015625,
                        "z": 370.6574401855469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03479290008545,
                "transform": {
                    "location": {
                        "x": 943.6211547851562,
                        "y": 3505.2109375,
                        "z": 370.7593688964844
                    },
                    "rotation": {
                        "roll": 0.0003153305733576417,
                        "pitch": 0.16406796872615814,
                        "yaw": 99.16897583007812
                    }
                },
                "velocity": {
                    "x": -1.2792079448699951,
                    "y": 7.932267665863037,
                    "z": 0.025424012914299965
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055344581604004,
                "transform": {
                    "location": {
                        "x": 940.548828125,
                        "y": 3524.29638671875,
                        "z": 370.8082275390625
                    },
                    "rotation": {
                        "roll": 0.00016069004777818918,
                        "pitch": 0.1451893299818039,
                        "yaw": 99.14017486572266
                    }
                },
                "velocity": {
                    "x": -1.2795357704162598,
                    "y": 7.953043460845947,
                    "z": 0.021427668631076813
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.5676879882812,
                        "y": 3621.638916015625,
                        "z": 370.88336181640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.704655170440674,
                "transform": {
                    "location": {
                        "x": 930.739013671875,
                        "y": 3564.802490234375,
                        "z": 370.8817138671875
                    },
                    "rotation": {
                        "roll": 0.0005847852444276214,
                        "pitch": 0.06671728193759918,
                        "yaw": 99.14265441894531
                    }
                },
                "velocity": {
                    "x": -0.7475730180740356,
                    "y": 4.6448774337768555,
                    "z": 0.005379047244787216
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.195740699768066,
                "transform": {
                    "location": {
                        "x": 922.7166748046875,
                        "y": 3576.03369140625,
                        "z": 370.98345947265625
                    },
                    "rotation": {
                        "roll": -3.3400886058807373,
                        "pitch": 0.6096763014793396,
                        "yaw": 169.7156219482422
                    }
                },
                "velocity": {
                    "x": -8.172304153442383,
                    "y": 0.6128421425819397,
                    "z": 0.08968717604875565
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.622629165649414,
                "transform": {
                    "location": {
                        "x": 946.5277709960938,
                        "y": 3487.386474609375,
                        "z": 370.69427490234375
                    },
                    "rotation": {
                        "roll": 0.006606585346162319,
                        "pitch": 0.4663652777671814,
                        "yaw": 99.53732299804688
                    }
                },
                "velocity": {
                    "x": -1.2602922916412354,
                    "y": 7.517664432525635,
                    "z": 0.029367025941610336
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.140602111816406,
                "transform": {
                    "location": {
                        "x": 937.3819580078125,
                        "y": 3543.9814453125,
                        "z": 370.8514709472656
                    },
                    "rotation": {
                        "roll": -0.0007324277539737523,
                        "pitch": 0.17498260736465454,
                        "yaw": 99.05722045898438
                    }
                },
                "velocity": {
                    "x": -0.8139333724975586,
                    "y": 5.075741291046143,
                    "z": 0.01235589012503624
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.0045166015625,
                "transform": {
                    "location": {
                        "x": 934.6421508789062,
                        "y": 3561.003662109375,
                        "z": 370.8780822753906
                    },
                    "rotation": {
                        "roll": 0.0001836781739257276,
                        "pitch": 0.0673251673579216,
                        "yaw": 99.18794250488281
                    }
                },
                "velocity": {
                    "x": -0.9553236365318298,
                    "y": 5.928030490875244,
                    "z": 0.005875816103070974
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.505292892456055,
                "transform": {
                    "location": {
                        "x": 932.3803100585938,
                        "y": 3575.049072265625,
                        "z": 370.9032287597656
                    },
                    "rotation": {
                        "roll": -0.3984679579734802,
                        "pitch": 0.40489357709884644,
                        "yaw": 99.12726593017578
                    }
                },
                "velocity": {
                    "x": -1.177223563194275,
                    "y": 7.412330627441406,
                    "z": 0.030279606580734253
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03714030981063843,
        "expert_target_speed": 5.773195007595702,
        "target_point": [
            18.292086643391816,
            -0.03250827341727147
        ],
        "target_point_next": [
            36.79181659567889,
            -0.11422275787653646
        ]
    },
    "655": {
        "acceleration": [
            0.10460019111633301,
            -0.016393661499023438,
            -0.012601474300026894
        ],
        "angular_velocity": [
            -0.9723009467124939,
            -0.22661811113357544,
            -4.441458225250244
        ],
        "forward_vector": [
            -0.15871985256671906,
            0.9873092770576477,
            0.00532564939931035
        ],
        "right_vector": [
            -0.9873235821723938,
            -0.15871940553188324,
            -0.0005098271649330854
        ],
        "location": [
            932.8214721679688,
            3552.803955078125,
            370.8609313964844
        ],
        "rotation": [
            0.02921135723590851,
            0.3051386773586273,
            99.13272857666016
        ],
        "velocity": [
            -0.8089147210121155,
            5.1630096435546875,
            0.005547609180212021
        ],
        "speed": 5.2259938390041,
        "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": 13.333635330200195,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                930.555419921875,
                3565.943603515625,
                370.8828125
            ],
            "velocity": [
                -0.7231712341308594,
                4.493616104125977,
                0.005833482835441828
            ],
            "speed_kmh": 16.385180156359294,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7952923774719238,
                "transform": {
                    "location": {
                        "x": 880.5759887695312,
                        "y": 3572.24169921875,
                        "z": 371.2955017089844
                    },
                    "rotation": {
                        "roll": 0.004308955278247595,
                        "pitch": -0.4890688359737396,
                        "yaw": 9.154767990112305
                    }
                },
                "velocity": {
                    "x": 1.769317865371704,
                    "y": 0.30425959825515747,
                    "z": -0.003887348109856248
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.417682647705078,
                "transform": {
                    "location": {
                        "x": 929.0385131835938,
                        "y": 3617.03173828125,
                        "z": 370.87908935546875
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": 0.0011064906138926744,
                        "yaw": -80.26722717285156
                    }
                },
                "velocity": {
                    "x": 1.0793187618255615,
                    "y": -6.326272487640381,
                    "z": 0.0013774966355413198
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.310542583465576,
                "transform": {
                    "location": {
                        "x": 902.0523071289062,
                        "y": 3575.795166015625,
                        "z": 371.1434020996094
                    },
                    "rotation": {
                        "roll": 0.0048352982848882675,
                        "pitch": -0.5689069032669067,
                        "yaw": 9.167323112487793
                    }
                },
                "velocity": {
                    "x": 6.230078220367432,
                    "y": 1.003504991531372,
                    "z": -0.04531806707382202
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.6825032234191895,
                "transform": {
                    "location": {
                        "x": 964.4932861328125,
                        "y": 3582.896240234375,
                        "z": 370.5814514160156
                    },
                    "rotation": {
                        "roll": 0.0031083310022950172,
                        "pitch": 0.6076409220695496,
                        "yaw": -170.66139221191406
                    }
                },
                "velocity": {
                    "x": -1.660273551940918,
                    "y": -0.2719688415527344,
                    "z": 0.018485669046640396
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 945.216796875,
                        "y": 3475.4658203125,
                        "z": 370.6491394042969
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0142014026641846,
                "transform": {
                    "location": {
                        "x": 934.05615234375,
                        "y": 3606.65673828125,
                        "z": 370.8890075683594
                    },
                    "rotation": {
                        "roll": -0.005279538221657276,
                        "pitch": -0.034547094255685806,
                        "yaw": -80.3306655883789
                    }
                },
                "velocity": {
                    "x": 0.4923762381076813,
                    "y": -2.973712921142578,
                    "z": 0.0026320170145481825
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.4461421966552734,
                "transform": {
                    "location": {
                        "x": 931.2900390625,
                        "y": 3603.472412109375,
                        "z": 370.8954162597656
                    },
                    "rotation": {
                        "roll": 0.0011408902937546372,
                        "pitch": -0.22286905348300934,
                        "yaw": -80.63450622558594
                    }
                },
                "velocity": {
                    "x": 0.3935379385948181,
                    "y": -2.4142777919769287,
                    "z": 0.0016443920321762562
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002662331098690629,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.005838385783135891,
                        "pitch": -0.46045035123825073,
                        "yaw": 8.349783897399902
                    }
                },
                "velocity": {
                    "x": 1.1422410352679435e-05,
                    "y": 1.6901642084121704e-05,
                    "z": 0.00026545042055658996
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012189130065962672,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 7.5167390605201945e-06,
                    "y": 2.7705251341103576e-05,
                    "z": 0.0012185749365016818
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.584248542785645,
                "transform": {
                    "location": {
                        "x": 942.5719604492188,
                        "y": 3491.373779296875,
                        "z": 370.713623046875
                    },
                    "rotation": {
                        "roll": 0.011896793730556965,
                        "pitch": 0.4810228645801544,
                        "yaw": 99.36174011230469
                    }
                },
                "velocity": {
                    "x": -1.3898980617523193,
                    "y": 8.470927238464355,
                    "z": 0.030109185725450516
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.7614214420318604,
                "transform": {
                    "location": {
                        "x": 984.891845703125,
                        "y": 3586.3046875,
                        "z": 370.3343200683594
                    },
                    "rotation": {
                        "roll": -0.0033264118246734142,
                        "pitch": 1.2488863468170166,
                        "yaw": -170.4490203857422
                    }
                },
                "velocity": {
                    "x": -3.706583261489868,
                    "y": -0.6378915905952454,
                    "z": 0.05124584212899208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86259,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 955.0604248046875,
                        "y": 3475.671875,
                        "z": 370.6434631347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23775887489318848,
                        "yaw": -80.85751342773438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031086921691895,
                "transform": {
                    "location": {
                        "x": 943.3016967773438,
                        "y": 3507.193603515625,
                        "z": 370.7652282714844
                    },
                    "rotation": {
                        "roll": -0.0009460384608246386,
                        "pitch": 0.16516079008579254,
                        "yaw": 99.12858581542969
                    }
                },
                "velocity": {
                    "x": -1.2765405178070068,
                    "y": 7.928949356079102,
                    "z": 0.02366139367222786
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.043573379516602,
                "transform": {
                    "location": {
                        "x": 940.2291259765625,
                        "y": 3526.282958984375,
                        "z": 370.8132629394531
                    },
                    "rotation": {
                        "roll": 0.00040386957698501647,
                        "pitch": 0.14480683207511902,
                        "yaw": 99.1385498046875
                    }
                },
                "velocity": {
                    "x": -1.2767455577850342,
                    "y": 7.941569805145264,
                    "z": 0.021415118128061295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.883633136749268,
                "transform": {
                    "location": {
                        "x": 931.8333129882812,
                        "y": 3620.057373046875,
                        "z": 370.8828430175781
                    },
                    "rotation": {
                        "roll": -0.07244873046875,
                        "pitch": -0.08392252773046494,
                        "yaw": -80.46690368652344
                    }
                },
                "velocity": {
                    "x": 1.3367420434951782,
                    "y": -7.769475936889648,
                    "z": -0.005553560331463814
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.551438808441162,
                "transform": {
                    "location": {
                        "x": 930.555419921875,
                        "y": 3565.943603515625,
                        "z": 370.8828125
                    },
                    "rotation": {
                        "roll": -0.00018310453742742538,
                        "pitch": 0.06649871915578842,
                        "yaw": 99.14335632324219
                    }
                },
                "velocity": {
                    "x": -0.7231712341308594,
                    "y": 4.493616104125977,
                    "z": 0.005833482835441828
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.921035289764404,
                "transform": {
                    "location": {
                        "x": 920.7288208007812,
                        "y": 3576.02734375,
                        "z": 371.00286865234375
                    },
                    "rotation": {
                        "roll": -2.5555419921875,
                        "pitch": 0.3332039415836334,
                        "yaw": -178.1455841064453
                    }
                },
                "velocity": {
                    "x": -7.886294364929199,
                    "y": -0.7382676601409912,
                    "z": 0.06422010064125061
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.352736473083496,
                "transform": {
                    "location": {
                        "x": 946.1944580078125,
                        "y": 3489.381103515625,
                        "z": 370.70159912109375
                    },
                    "rotation": {
                        "roll": 0.007994870655238628,
                        "pitch": 0.36480721831321716,
                        "yaw": 99.478515625
                    }
                },
                "velocity": {
                    "x": -1.3673070669174194,
                    "y": 8.240013122558594,
                    "z": 0.029415778815746307
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.46922492980957,
                "transform": {
                    "location": {
                        "x": 937.1686401367188,
                        "y": 3545.3095703125,
                        "z": 370.8536682128906
                    },
                    "rotation": {
                        "roll": -0.0005798345664516091,
                        "pitch": 0.1595805287361145,
                        "yaw": 99.11225128173828
                    }
                },
                "velocity": {
                    "x": -0.8678523302078247,
                    "y": 5.399921894073486,
                    "z": 0.009876012802124023
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.0709614753723145,
                "transform": {
                    "location": {
                        "x": 934.4240112304688,
                        "y": 3562.356689453125,
                        "z": 370.8787536621094
                    },
                    "rotation": {
                        "roll": -0.000946043583098799,
                        "pitch": 0.12911105155944824,
                        "yaw": 99.16722869873047
                    }
                },
                "velocity": {
                    "x": -0.8058724999427795,
                    "y": 5.006514549255371,
                    "z": 0.0056144618429243565
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.354182243347168,
                "transform": {
                    "location": {
                        "x": 932.0650024414062,
                        "y": 3577.022705078125,
                        "z": 370.906982421875
                    },
                    "rotation": {
                        "roll": -0.5703428387641907,
                        "pitch": 0.18108879029750824,
                        "yaw": 99.13751983642578
                    }
                },
                "velocity": {
                    "x": -1.3173162937164307,
                    "y": 8.249669075012207,
                    "z": 0.0032287882640957832
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05180039256811142,
        "expert_target_speed": 5.8267040666983245,
        "target_point": [
            16.98521859131443,
            0.05309878551286973
        ],
        "target_point_next": [
            35.48512874324961,
            0.05625074417760878
        ]
    },
    "660": {
        "acceleration": [
            -0.5153763294219971,
            4.246721267700195,
            0.012730211019515991
        ],
        "angular_velocity": [
            0.5551080107688904,
            0.10611250251531601,
            1.4566410779953003
        ],
        "forward_vector": [
            -0.1555337756872177,
            0.9877907037734985,
            0.008875610306859016
        ],
        "right_vector": [
            -0.9878302812576294,
            -0.1555347442626953,
            -0.0005843032849952579
        ],
        "location": [
            932.5963134765625,
            3554.2548828125,
            370.86181640625
        ],
        "rotation": [
            0.03347943723201752,
            0.5085417032241821,
            98.94811248779297
        ],
        "velocity": [
            -0.9933788776397705,
            6.490535259246826,
            0.006374454125761986
        ],
        "speed": 6.566113732343289,
        "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": 12.982471466064453,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                930.3778686523438,
                3567.04638671875,
                370.8839111328125
            ],
            "velocity": [
                -0.6981740593910217,
                4.338398456573486,
                0.0048131560906767845
            ],
            "speed_kmh": 15.819192796022742,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.160128355026245,
                "transform": {
                    "location": {
                        "x": 881.21435546875,
                        "y": 3572.3505859375,
                        "z": 371.29132080078125
                    },
                    "rotation": {
                        "roll": 0.002806456061080098,
                        "pitch": -0.5048807263374329,
                        "yaw": 9.320724487304688
                    }
                },
                "velocity": {
                    "x": 3.1140716075897217,
                    "y": 0.5371192693710327,
                    "z": -0.021736258640885353
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.4597291946411133,
                "transform": {
                    "location": {
                        "x": 929.2366333007812,
                        "y": 3615.868896484375,
                        "z": 370.8802185058594
                    },
                    "rotation": {
                        "roll": -0.0005493171629495919,
                        "pitch": -0.08156611770391464,
                        "yaw": -80.19511413574219
                    }
                },
                "velocity": {
                    "x": 0.4169715344905853,
                    "y": -2.424128770828247,
                    "z": 0.0014684771886095405
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.18417789041996002,
                "transform": {
                    "location": {
                        "x": 902.8267822265625,
                        "y": 3575.919921875,
                        "z": 371.1429748535156
                    },
                    "rotation": {
                        "roll": 0.001419194508343935,
                        "pitch": -2.0593223571777344,
                        "yaw": 9.156436920166016
                    }
                },
                "velocity": {
                    "x": 0.18177437782287598,
                    "y": 0.02942213974893093,
                    "z": -0.0037296961527317762
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.419701099395752,
                "transform": {
                    "location": {
                        "x": 963.9336547851562,
                        "y": 3582.8046875,
                        "z": 370.5873718261719
                    },
                    "rotation": {
                        "roll": 0.001627188641577959,
                        "pitch": 0.7417721748352051,
                        "yaw": -170.67837524414062
                    }
                },
                "velocity": {
                    "x": -2.3878848552703857,
                    "y": -0.3903147280216217,
                    "z": 0.024782074615359306
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.8870239257812,
                        "y": 3477.51513671875,
                        "z": 370.65777587890625
                    },
                    "rotation": {
                        "roll": -1.3340327065236579e-08,
                        "pitch": 0.2363518476486206,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2816531658172607,
                "transform": {
                    "location": {
                        "x": 934.1968383789062,
                        "y": 3605.8076171875,
                        "z": 370.8887939453125
                    },
                    "rotation": {
                        "roll": 0.002490550745278597,
                        "pitch": 0.18552158772945404,
                        "yaw": -80.46292877197266
                    }
                },
                "velocity": {
                    "x": 0.5337508916854858,
                    "y": -3.23795485496521,
                    "z": 0.00226904870942235
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.27498674392700195,
                "transform": {
                    "location": {
                        "x": 931.317626953125,
                        "y": 3603.30126953125,
                        "z": 370.8955383300781
                    },
                    "rotation": {
                        "roll": -0.003082264680415392,
                        "pitch": -0.36294257640838623,
                        "yaw": -80.49547576904297
                    }
                },
                "velocity": {
                    "x": 0.047468151897192,
                    "y": -0.2708558738231659,
                    "z": 0.0012577628949657083
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001953827595571056,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.005505769047886133,
                        "pitch": -0.4589203894138336,
                        "yaw": 8.349761962890625
                    }
                },
                "velocity": {
                    "x": 1.615941437194124e-05,
                    "y": 6.8427157202677336e-06,
                    "z": 0.00019459309987723827
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.11999225616455,
                "transform": {
                    "location": {
                        "x": 942.2346801757812,
                        "y": 3493.428955078125,
                        "z": 370.7236633300781
                    },
                    "rotation": {
                        "roll": 0.004927745554596186,
                        "pitch": 0.12351713329553604,
                        "yaw": 99.28227233886719
                    }
                },
                "velocity": {
                    "x": -1.3100285530090332,
                    "y": 8.013568878173828,
                    "z": 0.028748368844389915
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88873291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.03854275494813919,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.05991268157959,
                "transform": {
                    "location": {
                        "x": 983.7967529296875,
                        "y": 3586.1162109375,
                        "z": 370.34881591796875
                    },
                    "rotation": {
                        "roll": -0.0026245175395160913,
                        "pitch": 1.3148796558380127,
                        "yaw": -170.326171875
                    }
                },
                "velocity": {
                    "x": -4.9856696128845215,
                    "y": -0.8607099652290344,
                    "z": 0.07068418711423874
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03192138671875,
                "transform": {
                    "location": {
                        "x": 942.9826049804688,
                        "y": 3509.17626953125,
                        "z": 370.7710876464844
                    },
                    "rotation": {
                        "roll": 0.000394631817471236,
                        "pitch": 0.16573452949523926,
                        "yaw": 99.17091369628906
                    }
                },
                "velocity": {
                    "x": -1.2791550159454346,
                    "y": 7.92937707901001,
                    "z": 0.022591227665543556
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054819107055664,
                "transform": {
                    "location": {
                        "x": 939.9094848632812,
                        "y": 3528.27001953125,
                        "z": 370.81829833984375
                    },
                    "rotation": {
                        "roll": -0.0007629492320120335,
                        "pitch": 0.14564694464206696,
                        "yaw": 99.14013671875
                    }
                },
                "velocity": {
                    "x": -1.279473900794983,
                    "y": 7.952522277832031,
                    "z": 0.021074647083878517
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.102298736572266,
                "transform": {
                    "location": {
                        "x": 932.1328735351562,
                        "y": 3618.3154296875,
                        "z": 370.8834228515625
                    },
                    "rotation": {
                        "roll": -0.02139284648001194,
                        "pitch": -0.39990073442459106,
                        "yaw": -80.22099304199219
                    }
                },
                "velocity": {
                    "x": 1.028404712677002,
                    "y": -6.015017032623291,
                    "z": -0.0012415408855304122
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.394220352172852,
                "transform": {
                    "location": {
                        "x": 930.3778686523438,
                        "y": 3567.04638671875,
                        "z": 370.8839111328125
                    },
                    "rotation": {
                        "roll": -9.155060979537666e-05,
                        "pitch": 0.06743445247411728,
                        "yaw": 99.14092254638672
                    }
                },
                "velocity": {
                    "x": -0.6981740593910217,
                    "y": 4.338398456573486,
                    "z": 0.0048131560906767845
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0689697265625,
                "transform": {
                    "location": {
                        "x": 918.7470703125,
                        "y": 3575.80029296875,
                        "z": 371.01788330078125
                    },
                    "rotation": {
                        "roll": -1.4475709199905396,
                        "pitch": 0.41877254843711853,
                        "yaw": -172.7600860595703
                    }
                },
                "velocity": {
                    "x": -7.976332187652588,
                    "y": -1.2175484895706177,
                    "z": 0.06296331435441971
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.724997520446777,
                "transform": {
                    "location": {
                        "x": 945.8668823242188,
                        "y": 3491.36767578125,
                        "z": 370.7085876464844
                    },
                    "rotation": {
                        "roll": 0.007196391001343727,
                        "pitch": 0.17289939522743225,
                        "yaw": 99.34730529785156
                    }
                },
                "velocity": {
                    "x": -1.2524555921554565,
                    "y": 7.622738361358643,
                    "z": 0.02833450213074684
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.311882495880127,
                "transform": {
                    "location": {
                        "x": 936.9223022460938,
                        "y": 3546.840576171875,
                        "z": 370.85638427734375
                    },
                    "rotation": {
                        "roll": -0.0004577776126097888,
                        "pitch": 0.3438931703567505,
                        "yaw": 99.1410903930664
                    }
                },
                "velocity": {
                    "x": -1.162651538848877,
                    "y": 7.21884822845459,
                    "z": 0.009706859476864338
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.065989017486572,
                "transform": {
                    "location": {
                        "x": 934.2401123046875,
                        "y": 3563.520751953125,
                        "z": 370.87939453125
                    },
                    "rotation": {
                        "roll": -0.012969979085028172,
                        "pitch": 0.15963517129421234,
                        "yaw": 99.03138732910156
                    }
                },
                "velocity": {
                    "x": -0.5940885543823242,
                    "y": 4.02235221862793,
                    "z": 0.0029036616906523705
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.99872350692749,
                "transform": {
                    "location": {
                        "x": 931.7407836914062,
                        "y": 3579.049560546875,
                        "z": 370.9073486328125
                    },
                    "rotation": {
                        "roll": -0.563873291015625,
                        "pitch": 0.01553867943584919,
                        "yaw": 99.14521026611328
                    }
                },
                "velocity": {
                    "x": -1.2646081447601318,
                    "y": 7.898122310638428,
                    "z": 0.0017206382472068071
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06542658060789108,
        "expert_target_speed": 6.804592707836897,
        "target_point": [
            15.516668805445146,
            0.11108340331416233
        ],
        "target_point_next": [
            34.01647277617008,
            0.17384174354027238
        ]
    },
    "665": {
        "acceleration": [
            -0.3856492042541504,
            3.6993980407714844,
            0.014451798051595688
        ],
        "angular_velocity": [
            -0.10634411871433258,
            -0.1738015115261078,
            -3.8964476585388184
        ],
        "forward_vector": [
            -0.14918731153011322,
            0.9887649416923523,
            0.009328111074864864
        ],
        "right_vector": [
            -0.988808810710907,
            -0.14918549358844757,
            -0.0008954741060733795
        ],
        "location": [
            932.3311767578125,
            3556.011474609375,
            370.8636779785156
        ],
        "rotation": [
            0.05130912363529205,
            0.5344691276550293,
            98.58020782470703
        ],
        "velocity": [
            -1.105751872062683,
            7.491327285766602,
            0.008617239072918892
        ],
        "speed": 7.572494417630252,
        "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": 12.28574275970459,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                930.2063598632812,
                3568.112060546875,
                370.8848876953125
            ],
            "velocity": [
                -0.6744385361671448,
                4.1907477378845215,
                0.0037364386953413486
            ],
            "speed_kmh": 15.280822386836,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.293219089508057,
                "transform": {
                    "location": {
                        "x": 882.136474609375,
                        "y": 3572.508056640625,
                        "z": 371.2850341796875
                    },
                    "rotation": {
                        "roll": 0.0001772740506567061,
                        "pitch": -0.470244824886322,
                        "yaw": 9.492254257202148
                    }
                },
                "velocity": {
                    "x": 4.230668067932129,
                    "y": 0.7297200560569763,
                    "z": -0.026183394715189934
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0015141475014388561,
                "transform": {
                    "location": {
                        "x": 929.2576904296875,
                        "y": 3615.74658203125,
                        "z": 370.88031005859375
                    },
                    "rotation": {
                        "roll": 0.000903476495295763,
                        "pitch": -0.06415596604347229,
                        "yaw": -80.18982696533203
                    }
                },
                "velocity": {
                    "x": -7.290916983038187e-06,
                    "y": 0.00021223801013547927,
                    "z": 0.0014991812640801072
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2069511413574219,
                "transform": {
                    "location": {
                        "x": 902.9769897460938,
                        "y": 3575.9443359375,
                        "z": 371.13812255859375
                    },
                    "rotation": {
                        "roll": 0.004917149897664785,
                        "pitch": -1.076717734336853,
                        "yaw": 9.163344383239746
                    }
                },
                "velocity": {
                    "x": 1.191383957862854,
                    "y": 0.1930743306875229,
                    "z": -0.007592286914587021
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.34777748584747314,
                "transform": {
                    "location": {
                        "x": 963.7183227539062,
                        "y": 3582.77001953125,
                        "z": 370.589599609375
                    },
                    "rotation": {
                        "roll": -0.0018005332676693797,
                        "pitch": 0.30137524008750916,
                        "yaw": -170.5066375732422
                    }
                },
                "velocity": {
                    "x": -0.34324946999549866,
                    "y": -0.05584516376256943,
                    "z": 0.0032088947482407093
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.5690307617188,
                        "y": 3479.490478515625,
                        "z": 370.66595458984375
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6795815229415894,
                "transform": {
                    "location": {
                        "x": 934.3033447265625,
                        "y": 3605.16357421875,
                        "z": 370.8908996582031
                    },
                    "rotation": {
                        "roll": -0.0012512195389717817,
                        "pitch": -0.27340564131736755,
                        "yaw": -80.57108306884766
                    }
                },
                "velocity": {
                    "x": 0.2726670801639557,
                    "y": -1.6573002338409424,
                    "z": 0.0016845797654241323
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012199156917631626,
                "transform": {
                    "location": {
                        "x": 931.325439453125,
                        "y": 3603.2529296875,
                        "z": 370.8956604003906
                    },
                    "rotation": {
                        "roll": -0.0018310557352378964,
                        "pitch": -0.06996845453977585,
                        "yaw": -80.51774597167969
                    }
                },
                "velocity": {
                    "x": 2.0767320165759884e-05,
                    "y": -0.000465928518678993,
                    "z": 0.0011272416450083256
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004284806491341442,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.005505769047886133,
                        "pitch": -0.4589203894138336,
                        "yaw": 8.349761962890625
                    }
                },
                "velocity": {
                    "x": 1.890011117211543e-05,
                    "y": 5.385121312428964e-06,
                    "z": 0.000428029743488878
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.926623821258545,
                "transform": {
                    "location": {
                        "x": 941.9139404296875,
                        "y": 3495.39794921875,
                        "z": 370.7308654785156
                    },
                    "rotation": {
                        "roll": 0.006239994429051876,
                        "pitch": 0.0834922268986702,
                        "yaw": 99.22553253173828
                    }
                },
                "velocity": {
                    "x": -1.2688713073730469,
                    "y": 7.82435417175293,
                    "z": 0.028515556827187538
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.024256957694888115,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88336181640625
                    },
                    "rotation": {
                        "roll": 1.5057767996040639e-05,
                        "pitch": -0.03918479382991791,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0001045161479851231,
                    "y": 6.856126674392726e-06,
                    "z": -0.024256732314825058
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02890869602560997,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.88330078125
                    },
                    "rotation": {
                        "roll": 4.233183790347539e-05,
                        "pitch": -0.03841981291770935,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.00011076833470724523,
                    "y": 1.9643763152998872e-05,
                    "z": -0.02890847809612751
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.3507561683654785,
                "transform": {
                    "location": {
                        "x": 982.4853515625,
                        "y": 3585.8896484375,
                        "z": 370.3670654296875
                    },
                    "rotation": {
                        "roll": 0.0034531683195382357,
                        "pitch": 1.075105905532837,
                        "yaw": -170.32611083984375
                    }
                },
                "velocity": {
                    "x": -5.272286415100098,
                    "y": -0.9104105830192566,
                    "z": 0.06882728636264801
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032451629638672,
                "transform": {
                    "location": {
                        "x": 942.6632080078125,
                        "y": 3511.158447265625,
                        "z": 370.7767028808594
                    },
                    "rotation": {
                        "roll": -0.0010070832213386893,
                        "pitch": 0.15929366648197174,
                        "yaw": 99.12712097167969
                    }
                },
                "velocity": {
                    "x": -1.2749511003494263,
                    "y": 7.9305925369262695,
                    "z": 0.021870756521821022
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.043708801269531,
                "transform": {
                    "location": {
                        "x": 939.5897216796875,
                        "y": 3530.2568359375,
                        "z": 370.8233947753906
                    },
                    "rotation": {
                        "roll": -0.00030518503626808524,
                        "pitch": 0.14544203877449036,
                        "yaw": 99.14253997802734
                    }
                },
                "velocity": {
                    "x": -1.2788881063461304,
                    "y": 7.941361904144287,
                    "z": 0.02166719362139702
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4144194424152374,
                "transform": {
                    "location": {
                        "x": 932.264892578125,
                        "y": 3617.516845703125,
                        "z": 370.8878479003906
                    },
                    "rotation": {
                        "roll": 0.029158415272831917,
                        "pitch": -1.6959563493728638,
                        "yaw": -79.71980285644531
                    }
                },
                "velocity": {
                    "x": 0.04610054939985275,
                    "y": -0.411842942237854,
                    "z": -0.0018972873222082853
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.244672775268555,
                "transform": {
                    "location": {
                        "x": 930.2063598632812,
                        "y": 3568.112060546875,
                        "z": 370.8848876953125
                    },
                    "rotation": {
                        "roll": -0.0006408675690181553,
                        "pitch": 0.06538539379835129,
                        "yaw": 99.14656066894531
                    }
                },
                "velocity": {
                    "x": -0.6744385361671448,
                    "y": 4.1907477378845215,
                    "z": 0.0037364386953413486
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022309303283691,
                "transform": {
                    "location": {
                        "x": 916.7548828125,
                        "y": 3575.492431640625,
                        "z": 371.0334167480469
                    },
                    "rotation": {
                        "roll": -0.6841735243797302,
                        "pitch": 0.4465509057044983,
                        "yaw": -170.99606323242188
                    }
                },
                "velocity": {
                    "x": -7.912133693695068,
                    "y": -1.3234304189682007,
                    "z": 0.06424467265605927
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.635977268218994,
                "transform": {
                    "location": {
                        "x": 945.5603637695312,
                        "y": 3493.238037109375,
                        "z": 370.7154541015625
                    },
                    "rotation": {
                        "roll": 0.004340275656431913,
                        "pitch": 0.1907535195350647,
                        "yaw": 99.2992172241211
                    }
                },
                "velocity": {
                    "x": -1.2332098484039307,
                    "y": 7.535683631896973,
                    "z": 0.02856193482875824
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.21273946762085,
                "transform": {
                    "location": {
                        "x": 936.6231079101562,
                        "y": 3548.696533203125,
                        "z": 370.8590393066406
                    },
                    "rotation": {
                        "roll": -0.000549325137399137,
                        "pitch": 0.1494513601064682,
                        "yaw": 99.31097412109375
                    }
                },
                "velocity": {
                    "x": -1.1481741666793823,
                    "y": 7.120756149291992,
                    "z": 0.011734209023416042
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.738794803619385,
                "transform": {
                    "location": {
                        "x": 934.0799560546875,
                        "y": 3564.58740234375,
                        "z": 370.8814392089844
                    },
                    "rotation": {
                        "roll": -0.004577637650072575,
                        "pitch": 0.026262076571583748,
                        "yaw": 98.7822036743164
                    }
                },
                "velocity": {
                    "x": -0.6947569847106934,
                    "y": 4.687587261199951,
                    "z": 0.003599634161219001
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.980319499969482,
                "transform": {
                    "location": {
                        "x": 931.4274291992188,
                        "y": 3581.005126953125,
                        "z": 370.9078369140625
                    },
                    "rotation": {
                        "roll": -0.5440672636032104,
                        "pitch": 0.04136362299323082,
                        "yaw": 99.16229248046875
                    }
                },
                "velocity": {
                    "x": -1.2654472589492798,
                    "y": 7.87934684753418,
                    "z": 0.005872392561286688
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.2669876515865326,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09210353344678879,
        "expert_target_speed": 7.357178765474588,
        "target_point": [
            13.739146924947788,
            0.21061772669679257
        ],
        "target_point_next": [
            32.23816654582253,
            0.3921628478356869
        ]
    },
    "670": {
        "acceleration": [
            0.028142929077148438,
            1.2680625915527344,
            -0.006852913647890091
        ],
        "angular_velocity": [
            -0.8032516241073608,
            -0.032180726528167725,
            1.0418466329574585
        ],
        "forward_vector": [
            -0.14323660731315613,
            0.9896588921546936,
            0.007649108301848173
        ],
        "right_vector": [
            -0.9896884560585022,
            -0.14323210716247559,
            -0.0011362641816958785
        ],
        "location": [
            932.045654296875,
            3557.9814453125,
            370.8662109375
        ],
        "rotation": [
            0.06510506570339203,
            0.4382658898830414,
            98.23542022705078
        ],
        "velocity": [
            -1.149027943611145,
            8.128976821899414,
            0.009305124171078205
        ],
        "speed": 8.209782541954272,
        "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": 11.338358879089355,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                930.0407104492188,
                3569.14111328125,
                370.8858642578125
            ],
            "velocity": [
                -0.6518652439117432,
                4.04905891418457,
                0.0029150007758289576
            ],
            "speed_kmh": 14.764308344669375,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2995285987854,
                "transform": {
                    "location": {
                        "x": 883.3324584960938,
                        "y": 3572.71337890625,
                        "z": 371.2777404785156
                    },
                    "rotation": {
                        "roll": -0.0005188005743548274,
                        "pitch": -0.45580580830574036,
                        "yaw": 9.62282943725586
                    }
                },
                "velocity": {
                    "x": 5.222224235534668,
                    "y": 0.9013712406158447,
                    "z": -0.030108070001006126
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0013836085563525558,
                "transform": {
                    "location": {
                        "x": 929.2578125,
                        "y": 3615.745849609375,
                        "z": 370.8795166015625
                    },
                    "rotation": {
                        "roll": 0.0009129383834078908,
                        "pitch": 0.028871208429336548,
                        "yaw": -80.18984985351562
                    }
                },
                "velocity": {
                    "x": -6.98777142815743e-08,
                    "y": 5.118154876981862e-05,
                    "z": 0.0013826616341248155
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.0866427421569824,
                "transform": {
                    "location": {
                        "x": 903.3881225585938,
                        "y": 3576.0107421875,
                        "z": 371.1324768066406
                    },
                    "rotation": {
                        "roll": 0.0024164675269275904,
                        "pitch": -0.3616584837436676,
                        "yaw": 9.15739631652832
                    }
                },
                "velocity": {
                    "x": 2.0600531101226807,
                    "y": 0.3317279815673828,
                    "z": -0.014698485843837261
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5504266023635864,
                "transform": {
                    "location": {
                        "x": 963.4718017578125,
                        "y": 3582.729248046875,
                        "z": 370.59234619140625
                    },
                    "rotation": {
                        "roll": 0.003364605363458395,
                        "pitch": 0.7264862060546875,
                        "yaw": -170.50112915039062
                    }
                },
                "velocity": {
                    "x": -1.5298731327056885,
                    "y": -0.2510734498500824,
                    "z": 0.01651916466653347
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 944.2520751953125,
                        "y": 3481.460205078125,
                        "z": 370.6739501953125
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.006830236408859491,
                "transform": {
                    "location": {
                        "x": 934.3114013671875,
                        "y": 3605.118896484375,
                        "z": 370.8922119140625
                    },
                    "rotation": {
                        "roll": -0.0028381641022861004,
                        "pitch": -0.6221619248390198,
                        "yaw": -80.65265655517578
                    }
                },
                "velocity": {
                    "x": -0.000897908175829798,
                    "y": 0.006568435113877058,
                    "z": 0.0016436385922133923
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001362270093522966,
                "transform": {
                    "location": {
                        "x": 931.3255004882812,
                        "y": 3603.25244140625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": 0.003305811434984207,
                        "yaw": -80.51774597167969
                    }
                },
                "velocity": {
                    "x": 2.5610097509343177e-05,
                    "y": 0.0007572284666821361,
                    "z": 0.0011321346974000335
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00016344613686669618,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.00487357284873724,
                        "pitch": -0.45900917053222656,
                        "yaw": 8.349706649780273
                    }
                },
                "velocity": {
                    "x": 1.6890689948922954e-05,
                    "y": 4.673749117500847e-06,
                    "z": 0.0001625038421479985
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.091987609863281,
                "transform": {
                    "location": {
                        "x": 941.59375,
                        "y": 3497.373291015625,
                        "z": 370.73651123046875
                    },
                    "rotation": {
                        "roll": 0.0020739249885082245,
                        "pitch": 0.2232515513896942,
                        "yaw": 99.19558715820312
                    }
                },
                "velocity": {
                    "x": -1.2932919263839722,
                    "y": 7.987929344177246,
                    "z": 0.025278758257627487
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002241544658318162,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.88037109375
                    },
                    "rotation": {
                        "roll": 0.0006777013186365366,
                        "pitch": -0.03924626484513283,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -6.033813042449765e-05,
                    "y": 3.4849930671043694e-05,
                    "z": -0.0022404612973332405
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.011756811290979385,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.87841796875
                    },
                    "rotation": {
                        "roll": 9.207416587742046e-05,
                        "pitch": -0.03841981291770935,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.00014612768427468836,
                    "y": 3.3013800475600874e-06,
                    "z": -0.01175590232014656
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.011301040649414,
                "transform": {
                    "location": {
                        "x": 980.958984375,
                        "y": 3585.626708984375,
                        "z": 370.38592529296875
                    },
                    "rotation": {
                        "roll": 0.015278251841664314,
                        "pitch": 1.2961034774780273,
                        "yaw": -170.19363403320312
                    }
                },
                "velocity": {
                    "x": -6.911013126373291,
                    "y": -1.1784299612045288,
                    "z": 0.08685214817523956
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032302856445312,
                "transform": {
                    "location": {
                        "x": 942.3442993164062,
                        "y": 3513.140869140625,
                        "z": 370.78228759765625
                    },
                    "rotation": {
                        "roll": 1.919663554872386e-05,
                        "pitch": 0.15471743047237396,
                        "yaw": 99.16481018066406
                    }
                },
                "velocity": {
                    "x": -1.2769287824630737,
                    "y": 7.930124282836914,
                    "z": 0.021666040644049644
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.055843353271484,
                "transform": {
                    "location": {
                        "x": 939.2700805664062,
                        "y": 3532.24365234375,
                        "z": 370.828125
                    },
                    "rotation": {
                        "roll": -0.0006408721674233675,
                        "pitch": 0.1316792070865631,
                        "yaw": 99.14044189453125
                    }
                },
                "velocity": {
                    "x": -1.2796837091445923,
                    "y": 7.9535346031188965,
                    "z": 0.01742279902100563
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.012413183227181435,
                "transform": {
                    "location": {
                        "x": 932.2658081054688,
                        "y": 3617.510498046875,
                        "z": 370.8852233886719
                    },
                    "rotation": {
                        "roll": -0.010040294378995895,
                        "pitch": -1.0638360977172852,
                        "yaw": -79.7205810546875
                    }
                },
                "velocity": {
                    "x": -0.001712676603347063,
                    "y": 0.012147598899900913,
                    "z": 0.001894649351015687
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.101196765899658,
                "transform": {
                    "location": {
                        "x": 930.0407104492188,
                        "y": 3569.14111328125,
                        "z": 370.8858642578125
                    },
                    "rotation": {
                        "roll": -0.000335689983330667,
                        "pitch": 0.06533758342266083,
                        "yaw": 99.14207458496094
                    }
                },
                "velocity": {
                    "x": -0.6518652439117432,
                    "y": 4.04905891418457,
                    "z": 0.0029150007758289576
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.007519721984863,
                "transform": {
                    "location": {
                        "x": 914.7822265625,
                        "y": 3575.1630859375,
                        "z": 371.0491638183594
                    },
                    "rotation": {
                        "roll": -0.29559317231178284,
                        "pitch": 0.44097065925598145,
                        "yaw": -170.47979736328125
                    }
                },
                "velocity": {
                    "x": -7.892618179321289,
                    "y": -1.3501689434051514,
                    "z": 0.06325429677963257
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.274483680725098,
                "transform": {
                    "location": {
                        "x": 945.2388305664062,
                        "y": 3495.208740234375,
                        "z": 370.7225036621094
                    },
                    "rotation": {
                        "roll": 0.003730590920895338,
                        "pitch": 0.26627489924430847,
                        "yaw": 99.25865173339844
                    }
                },
                "velocity": {
                    "x": -1.328590989112854,
                    "y": 8.167073249816895,
                    "z": 0.028993234038352966
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.878717422485352,
                "transform": {
                    "location": {
                        "x": 936.3585815429688,
                        "y": 3550.337158203125,
                        "z": 370.8611145019531
                    },
                    "rotation": {
                        "roll": -0.0025024418719112873,
                        "pitch": -0.06240743398666382,
                        "yaw": 99.31729125976562
                    }
                },
                "velocity": {
                    "x": -0.9379960298538208,
                    "y": 5.803395748138428,
                    "z": 0.008942613378167152
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.599467754364014,
                "transform": {
                    "location": {
                        "x": 933.9009399414062,
                        "y": 3565.787353515625,
                        "z": 370.8822937011719
                    },
                    "rotation": {
                        "roll": -0.0007324229227378964,
                        "pitch": 0.050406794995069504,
                        "yaw": 98.61658477783203
                    }
                },
                "velocity": {
                    "x": -0.6728875041007996,
                    "y": 4.5499773025512695,
                    "z": 0.0055886078625917435
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.12300968170166,
                "transform": {
                    "location": {
                        "x": 931.1065673828125,
                        "y": 3583.00146484375,
                        "z": 370.90142822265625
                    },
                    "rotation": {
                        "roll": -0.2943725287914276,
                        "pitch": -0.29543980956077576,
                        "yaw": 99.19884490966797
                    }
                },
                "velocity": {
                    "x": -1.2952654361724854,
                    "y": 8.019075393676758,
                    "z": 0.0010063170921057463
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.12862004339694977,
        "expert_target_speed": 7.460176033808264,
        "target_point": [
            11.747076099644927,
            0.29289622638494395
        ],
        "target_point_next": [
            30.244668228788917,
            0.5857630704424981
        ]
    },
    "675": {
        "acceleration": [
            0.5089235305786133,
            -2.5162887573242188,
            0.007834620773792267
        ],
        "angular_velocity": [
            -1.4306888580322266,
            -0.21248845756053925,
            -3.8725621700286865
        ],
        "forward_vector": [
            -0.1370200216770172,
            0.9905650019645691,
            0.002567288465797901
        ],
        "right_vector": [
            -0.9905680418014526,
            -0.13701771199703217,
            -0.0010519464267417789
        ],
        "location": [
            931.7640991210938,
            3560.001708984375,
            370.86932373046875
        ],
        "rotation": [
            0.06027230620384216,
            0.1470949500799179,
            97.87547302246094
        ],
        "velocity": [
            -1.0761165618896484,
            7.891942977905273,
            0.009345054626464844
        ],
        "speed": 7.964972744541035,
        "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": 64.23780822753906,
        "front_vehicle_info": {
            "id": 86262,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                921.4090576171875,
                3623.3994140625,
                370.87701416015625
            ],
            "velocity": [
                -1.9051343770115636e-05,
                -4.863643425778719e-06,
                -0.002175296889618039
            ],
            "speed_kmh": 0.007831388704472867,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.642711639404297,
                "transform": {
                    "location": {
                        "x": 884.6686401367188,
                        "y": 3572.943359375,
                        "z": 371.26898193359375
                    },
                    "rotation": {
                        "roll": -0.0025329566560685635,
                        "pitch": -0.4063689112663269,
                        "yaw": 9.693352699279785
                    }
                },
                "velocity": {
                    "x": 5.560436725616455,
                    "y": 0.9594624638557434,
                    "z": -0.0341985747218132
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.16200152039527893,
                "transform": {
                    "location": {
                        "x": 929.2581176757812,
                        "y": 3615.744384765625,
                        "z": 370.87945556640625
                    },
                    "rotation": {
                        "roll": 0.000650485570076853,
                        "pitch": 0.037429433315992355,
                        "yaw": -80.19013977050781
                    }
                },
                "velocity": {
                    "x": 0.02744617871940136,
                    "y": -0.15965856611728668,
                    "z": 0.0005860996316187084
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5574151873588562,
                "transform": {
                    "location": {
                        "x": 903.8716430664062,
                        "y": 3576.088623046875,
                        "z": 371.12994384765625
                    },
                    "rotation": {
                        "roll": 9.822608990361914e-05,
                        "pitch": -0.6030920147895813,
                        "yaw": 9.162489891052246
                    }
                },
                "velocity": {
                    "x": 0.5501866936683655,
                    "y": 0.0894155278801918,
                    "z": -0.003343896707519889
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2196638584136963,
                "transform": {
                    "location": {
                        "x": 962.9569091796875,
                        "y": 3582.64501953125,
                        "z": 370.5978088378906
                    },
                    "rotation": {
                        "roll": 0.0036164899356663227,
                        "pitch": 0.7521335482597351,
                        "yaw": -170.5749969482422
                    }
                },
                "velocity": {
                    "x": -2.190298080444336,
                    "y": -0.3591477870941162,
                    "z": 0.022692812606692314
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.92919921875,
                        "y": 3483.4677734375,
                        "z": 370.68212890625
                    },
                    "rotation": {
                        "roll": 2.6680629261477407e-08,
                        "pitch": 0.22388675808906555,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.004058161750435829,
                "transform": {
                    "location": {
                        "x": 934.3118286132812,
                        "y": 3605.1162109375,
                        "z": 370.8906555175781
                    },
                    "rotation": {
                        "roll": -0.00042723631486296654,
                        "pitch": -0.2026585340499878,
                        "yaw": -80.65277862548828
                    }
                },
                "velocity": {
                    "x": -0.0007218211540021002,
                    "y": 0.0034864440094679594,
                    "z": 0.001947397948242724
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002673599519766867,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.25244140625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -0.0004882818320766091,
                        "pitch": 0.02827698178589344,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": 7.759413711028174e-05,
                    "y": 0.0001808431843528524,
                    "z": 0.00018098681175615638
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00025050132535398006,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.005001402925699949,
                        "pitch": -0.45898187160491943,
                        "yaw": 8.349681854248047
                    }
                },
                "velocity": {
                    "x": 1.2929215699841734e-05,
                    "y": 6.34951493339031e-06,
                    "z": -0.0002500868577044457
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.141950607299805,
                "transform": {
                    "location": {
                        "x": 941.2684936523438,
                        "y": 3499.383056640625,
                        "z": 370.7429504394531
                    },
                    "rotation": {
                        "roll": 0.000975363771431148,
                        "pitch": 0.22494544088840485,
                        "yaw": 99.18651580810547
                    }
                },
                "velocity": {
                    "x": -1.2989475727081299,
                    "y": 8.037626266479492,
                    "z": 0.025547828525304794
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014502110425382853,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.87982177734375
                    },
                    "rotation": {
                        "roll": 0.0008784248493611813,
                        "pitch": -0.03954679146409035,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0001267811458092183,
                    "y": 2.735563430178445e-05,
                    "z": -0.0014443995896726847
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.002175385830923915,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.87701416015625
                    },
                    "rotation": {
                        "roll": -9.155056613963097e-05,
                        "pitch": -0.03839249163866043,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -1.9051343770115636e-05,
                    "y": -4.863643425778719e-06,
                    "z": -0.002175296889618039
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.108315467834473,
                "transform": {
                    "location": {
                        "x": 979.0673217773438,
                        "y": 3585.30615234375,
                        "z": 370.4093933105469
                    },
                    "rotation": {
                        "roll": 0.026951521635055542,
                        "pitch": 1.2582368850708008,
                        "yaw": -170.39450073242188
                    }
                },
                "velocity": {
                    "x": -7.995188236236572,
                    "y": -1.3461724519729614,
                    "z": 0.09781354665756226
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031880378723145,
                "transform": {
                    "location": {
                        "x": 942.02490234375,
                        "y": 3515.123046875,
                        "z": 370.7878112792969
                    },
                    "rotation": {
                        "roll": -0.0016784584149718285,
                        "pitch": 0.1553867906332016,
                        "yaw": 99.12400817871094
                    }
                },
                "velocity": {
                    "x": -1.2761982679367065,
                    "y": 7.929814338684082,
                    "z": 0.021489275619387627
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.043123245239258,
                "transform": {
                    "location": {
                        "x": 938.9503784179688,
                        "y": 3534.230224609375,
                        "z": 370.83251953125
                    },
                    "rotation": {
                        "roll": -0.00015259232895914465,
                        "pitch": 0.11670743674039841,
                        "yaw": 99.14055633544922
                    }
                },
                "velocity": {
                    "x": -1.277709722518921,
                    "y": 7.940968036651611,
                    "z": 0.017766103148460388
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.17567658424377441,
                "transform": {
                    "location": {
                        "x": 932.2672729492188,
                        "y": 3617.50341796875,
                        "z": 370.8827209472656
                    },
                    "rotation": {
                        "roll": -0.002716062357649207,
                        "pitch": -0.3418509364128113,
                        "yaw": -79.73160552978516
                    }
                },
                "velocity": {
                    "x": 0.029681971296668053,
                    "y": -0.17313870787620544,
                    "z": 0.0020572661887854338
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.088088512420654,
                "transform": {
                    "location": {
                        "x": 929.8798217773438,
                        "y": 3570.14013671875,
                        "z": 370.8868408203125
                    },
                    "rotation": {
                        "roll": -0.0007934595341794193,
                        "pitch": 0.05755800008773804,
                        "yaw": 99.1482162475586
                    }
                },
                "velocity": {
                    "x": -0.6512884497642517,
                    "y": 4.035874366760254,
                    "z": 0.0026994608342647552
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038237571716309,
                "transform": {
                    "location": {
                        "x": 912.802734375,
                        "y": 3574.830810546875,
                        "z": 371.0647277832031
                    },
                    "rotation": {
                        "roll": -0.0909729078412056,
                        "pitch": 0.456673264503479,
                        "yaw": -170.48843383789062
                    }
                },
                "velocity": {
                    "x": -7.927814960479736,
                    "y": -1.32634437084198,
                    "z": 0.06185382604598999
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.01247787475586,
                "transform": {
                    "location": {
                        "x": 944.9111328125,
                        "y": 3497.22802734375,
                        "z": 370.729248046875
                    },
                    "rotation": {
                        "roll": 0.0025555966421961784,
                        "pitch": 0.1766013652086258,
                        "yaw": 99.21349334716797
                    }
                },
                "velocity": {
                    "x": -1.2819067239761353,
                    "y": 7.9092278480529785,
                    "z": 0.02512519806623459
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.041003704071045,
                "transform": {
                    "location": {
                        "x": 936.1474609375,
                        "y": 3551.639892578125,
                        "z": 370.8630065917969
                    },
                    "rotation": {
                        "roll": -0.0014648432843387127,
                        "pitch": -0.07525502145290375,
                        "yaw": 99.3154296875
                    }
                },
                "velocity": {
                    "x": -0.8070614337921143,
                    "y": 4.975976467132568,
                    "z": 0.005344867706298828
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.598839282989502,
                "transform": {
                    "location": {
                        "x": 933.7352294921875,
                        "y": 3566.903564453125,
                        "z": 370.88336181640625
                    },
                    "rotation": {
                        "roll": -0.00036621568142436445,
                        "pitch": 0.055618226528167725,
                        "yaw": 98.52706146240234
                    }
                },
                "velocity": {
                    "x": -0.6723276972770691,
                    "y": 4.549424648284912,
                    "z": 0.005961570423096418
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.015974044799805,
                "transform": {
                    "location": {
                        "x": 930.7853393554688,
                        "y": 3584.9931640625,
                        "z": 370.8961181640625
                    },
                    "rotation": {
                        "roll": 0.028257224708795547,
                        "pitch": 0.011665962636470795,
                        "yaw": 99.22541809082031
                    }
                },
                "velocity": {
                    "x": -1.295298457145691,
                    "y": 7.910429000854492,
                    "z": -0.05612342059612274
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.18055926263332367,
        "expert_target_speed": 6.901646141594477,
        "target_point": [
            9.705216510321916,
            0.36460412341116855
        ],
        "target_point_next": [
            28.200603835884817,
            0.7736679838598337
        ]
    },
    "680": {
        "acceleration": [
            0.5344915390014648,
            -3.1009387969970703,
            -0.008203694596886635
        ],
        "angular_velocity": [
            -0.7571967244148254,
            -0.10568817704916,
            2.099996566772461
        ],
        "forward_vector": [
            -0.13278856873512268,
            0.9911395907402039,
            -0.003094071988016367
        ],
        "right_vector": [
            -0.9911434054374695,
            -0.13279205560684204,
            -0.0009529110975563526
        ],
        "location": [
            931.514892578125,
            3561.857177734375,
            370.8724060058594
        ],
        "rotation": [
            0.05459805205464363,
            -0.1772775501012802,
            97.63079833984375
        ],
        "velocity": [
            -0.9183339476585388,
            6.983909606933594,
            0.00593596464022994
        ],
        "speed": 7.0440280122413945,
        "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": 62.366455078125,
        "front_vehicle_info": {
            "id": 86262,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                921.4090576171875,
                3623.3994140625,
                370.8765869140625
            ],
            "velocity": [
                1.2470192814362235e-05,
                -2.2316662580124103e-05,
                -0.0017298925668001175
            ],
            "speed_kmh": 0.006228293228504068,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.942307472229004,
                "transform": {
                    "location": {
                        "x": 886.1702270507812,
                        "y": 3573.1962890625,
                        "z": 371.25982666015625
                    },
                    "rotation": {
                        "roll": -0.006011964287608862,
                        "pitch": -0.4646919071674347,
                        "yaw": 9.537148475646973
                    }
                },
                "velocity": {
                    "x": 6.847390174865723,
                    "y": 1.1431797742843628,
                    "z": -0.04498359560966492
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2184644937515259,
                "transform": {
                    "location": {
                        "x": 929.2927856445312,
                        "y": 3615.5400390625,
                        "z": 370.8793029785156
                    },
                    "rotation": {
                        "roll": 0.0009856456890702248,
                        "pitch": 0.06786475330591202,
                        "yaw": -80.1675796508789
                    }
                },
                "velocity": {
                    "x": 0.2054842859506607,
                    "y": -1.2010118961334229,
                    "z": 0.0014960479456931353
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0687788724899292,
                "transform": {
                    "location": {
                        "x": 904.0126953125,
                        "y": 3576.111572265625,
                        "z": 371.1287536621094
                    },
                    "rotation": {
                        "roll": -0.0012207068502902985,
                        "pitch": -0.5718097686767578,
                        "yaw": 9.134312629699707
                    }
                },
                "velocity": {
                    "x": 1.0551998615264893,
                    "y": 0.1696983426809311,
                    "z": -0.0066283512860536575
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7193722128868103,
                "transform": {
                    "location": {
                        "x": 962.7962036132812,
                        "y": 3582.61865234375,
                        "z": 370.5993347167969
                    },
                    "rotation": {
                        "roll": 0.001003341400064528,
                        "pitch": 0.44754812121391296,
                        "yaw": -170.46493530273438
                    }
                },
                "velocity": {
                    "x": -0.7097774147987366,
                    "y": -0.11687745153903961,
                    "z": 0.007217464502900839
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.6079711914062,
                        "y": 3485.463623046875,
                        "z": 370.6897888183594
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0021364190615713596,
                "transform": {
                    "location": {
                        "x": 934.31201171875,
                        "y": 3605.115234375,
                        "z": 370.89007568359375
                    },
                    "rotation": {
                        "roll": -3.051907697226852e-05,
                        "pitch": -0.03808513283729553,
                        "yaw": -80.65274810791016
                    }
                },
                "velocity": {
                    "x": -0.00015803176211193204,
                    "y": 0.0011775767197832465,
                    "z": 0.0017755635781213641
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00010271200881106779,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.252197265625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -0.0005493166972883046,
                        "pitch": 0.03552381321787834,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": 2.935700422312948e-06,
                    "y": 5.6309432693524286e-05,
                    "z": -8.5850952018518e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004244783485773951,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.005126371048390865,
                        "pitch": -0.4588589072227478,
                        "yaw": 8.349648475646973
                    }
                },
                "velocity": {
                    "x": 1.6001014955691062e-05,
                    "y": 4.476634785532951e-06,
                    "z": 0.0004241530259605497
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.019454956054688,
                "transform": {
                    "location": {
                        "x": 940.94677734375,
                        "y": 3501.37451171875,
                        "z": 370.7497863769531
                    },
                    "rotation": {
                        "roll": 0.0016083624213933945,
                        "pitch": 0.16106951236724854,
                        "yaw": 99.17149353027344
                    }
                },
                "velocity": {
                    "x": -1.2769238948822021,
                    "y": 7.9171013832092285,
                    "z": 0.025214042514562607
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011833775788545609,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.8797302246094
                    },
                    "rotation": {
                        "roll": 0.0005657535512000322,
                        "pitch": -0.03936920687556267,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 4.649631136999233e-06,
                    "y": 7.632300366822165e-06,
                    "z": -0.001183343818411231
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86263,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 923.0280151367188,
                        "y": 3633.794677734375,
                        "z": 371.0419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0017300815088674426,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8765869140625
                    },
                    "rotation": {
                        "roll": -0.00039672802085988224,
                        "pitch": -0.03850860521197319,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.2470192814362235e-05,
                    "y": -2.2316662580124103e-05,
                    "z": -0.0017298925668001175
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.267743110656738,
                "transform": {
                    "location": {
                        "x": 977.1586303710938,
                        "y": 3584.98486328125,
                        "z": 370.4344177246094
                    },
                    "rotation": {
                        "roll": 0.014735528267920017,
                        "pitch": 0.6950741410255432,
                        "yaw": -170.43783569335938
                    }
                },
                "velocity": {
                    "x": -7.166654586791992,
                    "y": -1.2050162553787231,
                    "z": 0.08418916165828705
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032096862792969,
                "transform": {
                    "location": {
                        "x": 941.7063598632812,
                        "y": 3517.10546875,
                        "z": 370.79327392578125
                    },
                    "rotation": {
                        "roll": 0.0003965926298405975,
                        "pitch": 0.15590588748455048,
                        "yaw": 99.15211486816406
                    }
                },
                "velocity": {
                    "x": -1.2750623226165771,
                    "y": 7.93021821975708,
                    "z": 0.02100268378853798
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.486443042755127,
                "transform": {
                    "location": {
                        "x": 938.637451171875,
                        "y": 3536.17431640625,
                        "z": 370.83642578125
                    },
                    "rotation": {
                        "roll": -0.0006408690242096782,
                        "pitch": 0.04708732292056084,
                        "yaw": 99.14147186279297
                    }
                },
                "velocity": {
                    "x": -1.1895123720169067,
                    "y": 7.391321182250977,
                    "z": 0.01609654352068901
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4101786613464355,
                "transform": {
                    "location": {
                        "x": 932.307373046875,
                        "y": 3617.26904296875,
                        "z": 370.8807067871094
                    },
                    "rotation": {
                        "roll": 0.008219079114496708,
                        "pitch": 0.25372785329818726,
                        "yaw": -79.72782135009766
                    }
                },
                "velocity": {
                    "x": 0.23823478817939758,
                    "y": -1.3899080753326416,
                    "z": 0.001917076064273715
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.025301456451416,
                "transform": {
                    "location": {
                        "x": 929.698974609375,
                        "y": 3571.2626953125,
                        "z": 370.8913879394531
                    },
                    "rotation": {
                        "roll": 0.15945026278495789,
                        "pitch": 0.0924602672457695,
                        "yaw": 99.14712524414062
                    }
                },
                "velocity": {
                    "x": -0.8033660650253296,
                    "y": 4.960519790649414,
                    "z": 0.03872556611895561
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022882461547852,
                "transform": {
                    "location": {
                        "x": 910.8220825195312,
                        "y": 3574.501220703125,
                        "z": 371.0802307128906
                    },
                    "rotation": {
                        "roll": -0.026214599609375,
                        "pitch": 0.4477393627166748,
                        "yaw": -170.5677032470703
                    }
                },
                "velocity": {
                    "x": -7.914215564727783,
                    "y": -1.3145966529846191,
                    "z": 0.06059320271015167
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.999698638916016,
                "transform": {
                    "location": {
                        "x": 944.5930786132812,
                        "y": 3499.1904296875,
                        "z": 370.7356872558594
                    },
                    "rotation": {
                        "roll": 0.0010132610332220793,
                        "pitch": 0.18343837559223175,
                        "yaw": 99.20452880859375
                    }
                },
                "velocity": {
                    "x": -1.279622197151184,
                    "y": 7.8966498374938965,
                    "z": 0.025840988382697105
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.15241003036499,
                "transform": {
                    "location": {
                        "x": 935.9434204101562,
                        "y": 3552.902099609375,
                        "z": 370.86456298828125
                    },
                    "rotation": {
                        "roll": 0.0010453694267198443,
                        "pitch": 0.042695511132478714,
                        "yaw": 99.218994140625
                    }
                },
                "velocity": {
                    "x": -0.8214888572692871,
                    "y": 5.086496353149414,
                    "z": 0.006002950482070446
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.271291732788086,
                "transform": {
                    "location": {
                        "x": 933.5740356445312,
                        "y": 3567.99169921875,
                        "z": 370.8841857910156
                    },
                    "rotation": {
                        "roll": -0.0003051742969546467,
                        "pitch": 0.07651860266923904,
                        "yaw": 98.47626495361328
                    }
                },
                "velocity": {
                    "x": -0.6242300271987915,
                    "y": 4.225427627563477,
                    "z": 0.005462894216179848
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05339527130127,
                "transform": {
                    "location": {
                        "x": 930.4642944335938,
                        "y": 3586.972412109375,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": 0.01254899613559246,
                        "pitch": 0.05123324692249298,
                        "yaw": 99.18746948242188
                    }
                },
                "velocity": {
                    "x": -1.2852364778518677,
                    "y": 7.950171947479248,
                    "z": 0.010063943453133106
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.25317057967185974,
        "expert_target_speed": 6.170026506614628,
        "target_point": [
            7.831441929633844,
            0.40542977782358736
        ],
        "target_point_next": [
            26.32491390834535,
            0.8934663923621717
        ]
    },
    "685": {
        "acceleration": [
            3.138784170150757,
            -23.088598251342773,
            -0.07446708530187607
        ],
        "angular_velocity": [
            -5.511175632476807,
            -0.6332960724830627,
            -2.5853612422943115
        ],
        "forward_vector": [
            -0.13171501457691193,
            0.9911828637123108,
            -0.014409876428544521
        ],
        "right_vector": [
            -0.9912863373756409,
            -0.1317243129014969,
            0.0003051664389204234
        ],
        "location": [
            931.3203125,
            3563.291259765625,
            370.8758239746094
        ],
        "rotation": [
            -0.017486564815044403,
            -0.8256537318229675,
            97.56949615478516
        ],
        "velocity": [
            -0.5214118361473083,
            3.72831392288208,
            0.0014419651124626398
        ],
        "speed": 3.7645975894417814,
        "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": 9.457709312438965,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                929.4884033203125,
                3572.56982421875,
                370.9005126953125
            ],
            "velocity": [
                -0.8675174713134766,
                5.369577407836914,
                0.04449585825204849
            ],
            "speed_kmh": 19.58179222293303,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.118009567260742,
                "transform": {
                    "location": {
                        "x": 888.0520629882812,
                        "y": 3573.51025390625,
                        "z": 371.248046875
                    },
                    "rotation": {
                        "roll": -0.0031738292891532183,
                        "pitch": -0.5040816068649292,
                        "yaw": 9.482156753540039
                    }
                },
                "velocity": {
                    "x": 8.007370948791504,
                    "y": 1.3346983194351196,
                    "z": -0.05167825147509575
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7143914699554443,
                "transform": {
                    "location": {
                        "x": 929.354736328125,
                        "y": 3615.177001953125,
                        "z": 370.8796081542969
                    },
                    "rotation": {
                        "roll": 0.0019250037148594856,
                        "pitch": 0.05891037732362747,
                        "yaw": -80.1535873413086
                    }
                },
                "velocity": {
                    "x": 0.28880733251571655,
                    "y": -1.689888834953308,
                    "z": 0.0019368361681699753
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9444493055343628,
                "transform": {
                    "location": {
                        "x": 904.3931274414062,
                        "y": 3576.1728515625,
                        "z": 371.1246643066406
                    },
                    "rotation": {
                        "roll": -0.0008239743765443563,
                        "pitch": -0.22113418579101562,
                        "yaw": 9.130729675292969
                    }
                },
                "velocity": {
                    "x": 1.91961669921875,
                    "y": 0.30944570899009705,
                    "z": -0.014084548689424992
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0018820090917870402,
                "transform": {
                    "location": {
                        "x": 962.7294921875,
                        "y": 3582.607666015625,
                        "z": 370.6000671386719
                    },
                    "rotation": {
                        "roll": 0.0002150216605514288,
                        "pitch": 0.4768974483013153,
                        "yaw": -170.59536743164062
                    }
                },
                "velocity": {
                    "x": 0.0018151735421270132,
                    "y": 0.00037964910734444857,
                    "z": -0.0003208891721442342
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 943.288818359375,
                        "y": 3487.446533203125,
                        "z": 370.69744873046875
                    },
                    "rotation": {
                        "roll": 6.6701515422096236e-09,
                        "pitch": 0.21141482889652252,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0004067884001415223,
                "transform": {
                    "location": {
                        "x": 934.31201171875,
                        "y": 3605.114990234375,
                        "z": 370.88995361328125
                    },
                    "rotation": {
                        "roll": -0.0002441406832076609,
                        "pitch": 0.0062769437208771706,
                        "yaw": -80.65275573730469
                    }
                },
                "velocity": {
                    "x": -4.036623067804612e-05,
                    "y": 0.0003968079399783164,
                    "z": 7.994270708877593e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001274372189072892,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.252197265625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -0.00048828189028427,
                        "pitch": 0.037525057792663574,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": -1.8292605091119185e-05,
                    "y": 9.39486562856473e-06,
                    "z": -0.00012576709559652954
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002457203227095306,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.005126371048390865,
                        "pitch": -0.4588589072227478,
                        "yaw": 8.349648475646973
                    }
                },
                "velocity": {
                    "x": 1.6773194147390313e-05,
                    "y": 1.926003051266889e-06,
                    "z": 0.0002451396139804274
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.076371192932129,
                "transform": {
                    "location": {
                        "x": 940.6267700195312,
                        "y": 3503.359375,
                        "z": 370.7558898925781
                    },
                    "rotation": {
                        "roll": 0.0006564346258528531,
                        "pitch": 0.16621947288513184,
                        "yaw": 99.15612030029297
                    }
                },
                "velocity": {
                    "x": -1.2851731777191162,
                    "y": 7.973422527313232,
                    "z": 0.025381440296769142
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001111667137593031,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.879638671875
                    },
                    "rotation": {
                        "roll": 0.00023944853455759585,
                        "pitch": -0.03878864273428917,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 4.688726767199114e-05,
                    "y": -5.147298907104414e-06,
                    "z": -0.0011106659658253193
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.001946362666785717,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.87652587890625
                    },
                    "rotation": {
                        "roll": 0.0004620417021214962,
                        "pitch": -0.03872717171907425,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -5.973556835670024e-05,
                    "y": 5.461107866722159e-05,
                    "z": -0.0019446791848167777
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.4701948165893555,
                "transform": {
                    "location": {
                        "x": 975.6174926757812,
                        "y": 3584.7275390625,
                        "z": 370.4549560546875
                    },
                    "rotation": {
                        "roll": 0.018480094149708748,
                        "pitch": 0.011215169914066792,
                        "yaw": -170.3772430419922
                    }
                },
                "velocity": {
                    "x": -4.4096760749816895,
                    "y": -0.7315360903739929,
                    "z": 0.04746021330356598
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032086372375488,
                "transform": {
                    "location": {
                        "x": 941.3871459960938,
                        "y": 3519.088134765625,
                        "z": 370.79876708984375
                    },
                    "rotation": {
                        "roll": 0.0011156128020957112,
                        "pitch": 0.15561218559741974,
                        "yaw": 99.12003326416016
                    }
                },
                "velocity": {
                    "x": -1.275830626487732,
                    "y": 7.930080890655518,
                    "z": 0.021854456514120102
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.004039287567139,
                "transform": {
                    "location": {
                        "x": 938.3663330078125,
                        "y": 3537.859375,
                        "z": 370.8396911621094
                    },
                    "rotation": {
                        "roll": -3.3350562311795784e-09,
                        "pitch": -0.07733139395713806,
                        "yaw": 99.12306213378906
                    }
                },
                "velocity": {
                    "x": -0.9528243541717529,
                    "y": 5.927937030792236,
                    "z": 0.013196973130106926
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2726762294769287,
                "transform": {
                    "location": {
                        "x": 932.3867797851562,
                        "y": 3616.807373046875,
                        "z": 370.8805847167969
                    },
                    "rotation": {
                        "roll": 0.011974564753472805,
                        "pitch": 0.3849084675312042,
                        "yaw": -79.88253021240234
                    }
                },
                "velocity": {
                    "x": 0.38193920254707336,
                    "y": -2.240351438522339,
                    "z": 0.0024252128787338734
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.43938684463501,
                "transform": {
                    "location": {
                        "x": 929.4884033203125,
                        "y": 3572.56982421875,
                        "z": 370.9005126953125
                    },
                    "rotation": {
                        "roll": 0.14592985808849335,
                        "pitch": 0.3880230188369751,
                        "yaw": 99.17221069335938
                    }
                },
                "velocity": {
                    "x": -0.8675174713134766,
                    "y": 5.369577407836914,
                    "z": 0.04449585825204849
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.016059875488281,
                "transform": {
                    "location": {
                        "x": 908.845458984375,
                        "y": 3574.173583984375,
                        "z": 371.0953063964844
                    },
                    "rotation": {
                        "roll": 0.0008481990080326796,
                        "pitch": 0.4398914873600006,
                        "yaw": -170.6059112548828
                    }
                },
                "velocity": {
                    "x": -7.9095635414123535,
                    "y": -1.3009198904037476,
                    "z": 0.06019819155335426
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.103418350219727,
                "transform": {
                    "location": {
                        "x": 944.2705078125,
                        "y": 3501.184814453125,
                        "z": 370.7423400878906
                    },
                    "rotation": {
                        "roll": 0.0010970191797241569,
                        "pitch": 0.20126517117023468,
                        "yaw": 99.18289184570312
                    }
                },
                "velocity": {
                    "x": -1.2932417392730713,
                    "y": 7.999516487121582,
                    "z": 0.025436630472540855
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.944824695587158,
                "transform": {
                    "location": {
                        "x": 935.6839599609375,
                        "y": 3554.510009765625,
                        "z": 370.8666687011719
                    },
                    "rotation": {
                        "roll": 0.001502762665040791,
                        "pitch": 0.2510913908481598,
                        "yaw": 99.21285247802734
                    }
                },
                "velocity": {
                    "x": -1.1056982278823853,
                    "y": 6.856236457824707,
                    "z": 0.006460647564381361
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.037027359008789,
                "transform": {
                    "location": {
                        "x": 933.4840698242188,
                        "y": 3569.135009765625,
                        "z": 370.8858642578125
                    },
                    "rotation": {
                        "roll": -0.0770568773150444,
                        "pitch": -0.0030872453935444355,
                        "yaw": 96.21159362792969
                    }
                },
                "velocity": {
                    "x": -0.21756066381931305,
                    "y": 5.032324314117432,
                    "z": 0.005094241816550493
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.063526153564453,
                "transform": {
                    "location": {
                        "x": 930.142578125,
                        "y": 3588.9638671875,
                        "z": 370.897216796875
                    },
                    "rotation": {
                        "roll": 0.0034892919939011335,
                        "pitch": 0.019773395732045174,
                        "yaw": 99.1751480102539
                    }
                },
                "velocity": {
                    "x": -1.285305142402649,
                    "y": 7.960427761077881,
                    "z": 0.005118913482874632
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.6129019856452942,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.29268550872802734,
        "expert_target_speed": 3.840042118044444,
        "target_point": [
            24.876725427532993,
            0.9176715044755408
        ],
        "target_point_next": [
            42.86985366341516,
            1.4118183340227164
        ]
    },
    "690": {
        "acceleration": [
            0.07308379560709,
            -0.1467311531305313,
            0.021443068981170654
        ],
        "angular_velocity": [
            3.4506421089172363,
            0.2829996347427368,
            -0.0049295988865196705
        ],
        "forward_vector": [
            -0.12390248477458954,
            0.9919058084487915,
            -0.02776683121919632
        ],
        "right_vector": [
            -0.9922882914543152,
            -0.12395144253969193,
            -4.219356560497545e-05
        ],
        "location": [
            931.278076171875,
            3563.56591796875,
            370.8787841796875
        ],
        "rotation": [
            0.0024184458889067173,
            -1.5911266803741455,
            97.1201400756836
        ],
        "velocity": [
            0.00012804687139578164,
            -0.010213831439614296,
            0.0005949059268459678
        ],
        "speed": 0.010214634045237632,
        "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": 10.614733695983887,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                929.2603149414062,
                3573.987060546875,
                370.9104919433594
            ],
            "velocity": [
                -0.9404134750366211,
                5.825958251953125,
                0.06423851102590561
            ],
            "speed_kmh": 21.24619037907824,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.5735859870910645,
                "transform": {
                    "location": {
                        "x": 890.0145263671875,
                        "y": 3573.8369140625,
                        "z": 371.2338562011719
                    },
                    "rotation": {
                        "roll": -0.005584718193858862,
                        "pitch": -0.34292328357696533,
                        "yaw": 9.4478120803833
                    }
                },
                "velocity": {
                    "x": 7.473094940185547,
                    "y": 1.2286635637283325,
                    "z": -0.049410443753004074
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.114638566970825,
                "transform": {
                    "location": {
                        "x": 929.4387817382812,
                        "y": 3614.686767578125,
                        "z": 370.8800354003906
                    },
                    "rotation": {
                        "roll": 0.0014975746162235737,
                        "pitch": 0.05430000275373459,
                        "yaw": -80.1921615600586
                    }
                },
                "velocity": {
                    "x": 0.3557647168636322,
                    "y": -2.08449649810791,
                    "z": 0.0015925121260806918
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.112725257873535,
                "transform": {
                    "location": {
                        "x": 904.9408569335938,
                        "y": 3576.2607421875,
                        "z": 371.1207580566406
                    },
                    "rotation": {
                        "roll": -9.155141742667183e-05,
                        "pitch": -0.25045618414878845,
                        "yaw": 9.136329650878906
                    }
                },
                "velocity": {
                    "x": 2.085841417312622,
                    "y": 0.3355671763420105,
                    "z": -0.016383303329348564
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007494675228372216,
                "transform": {
                    "location": {
                        "x": 962.7288818359375,
                        "y": 3582.607666015625,
                        "z": 370.60009765625
                    },
                    "rotation": {
                        "roll": 0.0017127719474956393,
                        "pitch": 0.5722127556800842,
                        "yaw": -170.5953369140625
                    }
                },
                "velocity": {
                    "x": 0.0007101395749486983,
                    "y": -0.00021426647435873747,
                    "z": 0.00010720670252339914
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.9677734375,
                        "y": 3489.4404296875,
                        "z": 370.7049255371094
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0004240601265337318,
                "transform": {
                    "location": {
                        "x": 934.3120727539062,
                        "y": 3605.114501953125,
                        "z": 370.8898620605469
                    },
                    "rotation": {
                        "roll": 0.00018569911480881274,
                        "pitch": 0.027587132528424263,
                        "yaw": -80.65277862548828
                    }
                },
                "velocity": {
                    "x": -0.00015426246682181954,
                    "y": 0.0001429065887350589,
                    "z": -0.00036824963171966374
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003503815387375653,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.252197265625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -0.0005187992937862873,
                        "pitch": 0.03853592649102211,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": 8.94308050192194e-06,
                    "y": 6.170393589854939e-06,
                    "z": 0.00035021305666305125
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000555800914298743,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.00482894154265523,
                        "pitch": -0.45898187160491943,
                        "yaw": 8.349605560302734
                    }
                },
                "velocity": {
                    "x": 1.8268674466526136e-05,
                    "y": 6.7749897425528616e-06,
                    "z": 0.0005554592935368419
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.075935363769531,
                "transform": {
                    "location": {
                        "x": 940.3053588867188,
                        "y": 3505.3544921875,
                        "z": 370.76171875
                    },
                    "rotation": {
                        "roll": 0.00039209079113788903,
                        "pitch": 0.17862309515476227,
                        "yaw": 99.1479721069336
                    }
                },
                "velocity": {
                    "x": -1.283681869506836,
                    "y": 7.973221302032471,
                    "z": 0.02498515136539936
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004834444844163954,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.879638671875
                    },
                    "rotation": {
                        "roll": 0.0002604326873552054,
                        "pitch": -0.03902769833803177,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 7.124284456949681e-05,
                    "y": 8.792104040367121e-07,
                    "z": -0.00047816551523283124
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0012788427993655205,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.00015258706116583198,
                        "pitch": -0.039642415940761566,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 3.6642359191318974e-05,
                    "y": -9.294105439039413e-06,
                    "z": -0.0012782840058207512
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00727862399071455,
                "transform": {
                    "location": {
                        "x": 975.2398071289062,
                        "y": 3584.661865234375,
                        "z": 370.4631042480469
                    },
                    "rotation": {
                        "roll": -0.01611328311264515,
                        "pitch": -1.0516372919082642,
                        "yaw": -170.746337890625
                    }
                },
                "velocity": {
                    "x": 0.007163078058511019,
                    "y": -0.00024563647457398474,
                    "z": -0.0012682058149948716
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032526969909668,
                "transform": {
                    "location": {
                        "x": 941.0684204101562,
                        "y": 3521.070556640625,
                        "z": 370.80426025390625
                    },
                    "rotation": {
                        "roll": 0.0018540029413998127,
                        "pitch": 0.15536630153656006,
                        "yaw": 99.16041564941406
                    }
                },
                "velocity": {
                    "x": -1.2779535055160522,
                    "y": 7.930187702178955,
                    "z": 0.021149644628167152
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.400752067565918,
                "transform": {
                    "location": {
                        "x": 938.145751953125,
                        "y": 3539.233642578125,
                        "z": 370.8427734375
                    },
                    "rotation": {
                        "roll": -0.0002441406832076609,
                        "pitch": -0.006837018765509129,
                        "yaw": 99.07341766357422
                    }
                },
                "velocity": {
                    "x": -0.8557769060134888,
                    "y": 5.332510471343994,
                    "z": 0.01027428638190031
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.01388605311512947,
                "transform": {
                    "location": {
                        "x": 932.4514770507812,
                        "y": 3616.4306640625,
                        "z": 370.8835754394531
                    },
                    "rotation": {
                        "roll": -0.00570678012445569,
                        "pitch": -0.3678261637687683,
                        "yaw": -79.99105072021484
                    }
                },
                "velocity": {
                    "x": 0.0015703685348853469,
                    "y": -0.013786643743515015,
                    "z": 0.0005337487673386931
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.901719570159912,
                "transform": {
                    "location": {
                        "x": 929.2603149414062,
                        "y": 3573.987060546875,
                        "z": 370.9104919433594
                    },
                    "rotation": {
                        "roll": 0.21932101249694824,
                        "pitch": 0.6012547016143799,
                        "yaw": 99.2236557006836
                    }
                },
                "velocity": {
                    "x": -0.9404134750366211,
                    "y": 5.825958251953125,
                    "z": 0.06423851102590561
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038100242614746,
                "transform": {
                    "location": {
                        "x": 906.8642578125,
                        "y": 3573.849365234375,
                        "z": 371.1102600097656
                    },
                    "rotation": {
                        "roll": 0.011445585638284683,
                        "pitch": 0.4350215494632721,
                        "yaw": -170.70892333984375
                    }
                },
                "velocity": {
                    "x": -7.932982444763184,
                    "y": -1.294298529624939,
                    "z": 0.06041548773646355
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.022845268249512,
                "transform": {
                    "location": {
                        "x": 943.9495239257812,
                        "y": 3503.17333984375,
                        "z": 370.7485046386719
                    },
                    "rotation": {
                        "roll": 0.0020390066783875227,
                        "pitch": 0.16649268567562103,
                        "yaw": 99.16908264160156
                    }
                },
                "velocity": {
                    "x": -1.2773513793945312,
                    "y": 7.920465469360352,
                    "z": 0.025303658097982407
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.291635990142822,
                "transform": {
                    "location": {
                        "x": 935.4395141601562,
                        "y": 3556.0283203125,
                        "z": 370.86767578125
                    },
                    "rotation": {
                        "roll": -0.0013427734375,
                        "pitch": -0.19479697942733765,
                        "yaw": 99.99054718017578
                    }
                },
                "velocity": {
                    "x": -0.6684373617172241,
                    "y": 4.239260673522949,
                    "z": -0.00010737418779172003
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.426255702972412,
                "transform": {
                    "location": {
                        "x": 933.413330078125,
                        "y": 3570.4541015625,
                        "z": 370.8871765136719
                    },
                    "rotation": {
                        "roll": -0.026763916015625,
                        "pitch": 0.006782377604395151,
                        "yaw": 94.14305114746094
                    }
                },
                "velocity": {
                    "x": -0.20648948848247528,
                    "y": 5.4223222732543945,
                    "z": 0.005828790366649628
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.036685943603516,
                "transform": {
                    "location": {
                        "x": 929.8223266601562,
                        "y": 3590.94921875,
                        "z": 370.8977966308594
                    },
                    "rotation": {
                        "roll": 0.0011730409460142255,
                        "pitch": 0.006782377604395151,
                        "yaw": 99.16017150878906
                    }
                },
                "velocity": {
                    "x": -1.2787891626358032,
                    "y": 7.9342942237854,
                    "z": 0.0019044589716941118
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3023238778114319,
        "expert_target_speed": 0.705648614654184,
        "target_point": [
            24.590987713917443,
            1.104883063878424
        ],
        "target_point_next": [
            42.579686985127815,
            1.740133669550766
        ]
    },
    "695": {
        "acceleration": [
            -0.2693121135234833,
            2.002084255218506,
            0.018901824951171875
        ],
        "angular_velocity": [
            3.3544716835021973,
            0.42873212695121765,
            0.6297162175178528
        ],
        "forward_vector": [
            -0.12415619939565659,
            0.9922346472740173,
            -0.007457306608557701
        ],
        "right_vector": [
            -0.9922623038291931,
            -0.12415900826454163,
            8.788145350990817e-05
        ],
        "location": [
            931.262939453125,
            3563.677978515625,
            370.8746337890625
        ],
        "rotation": [
            -0.005035376641899347,
            -0.4272761344909668,
            97.13223266601562
        ],
        "velocity": [
            -0.09494808316230774,
            0.7078421711921692,
            0.002465209923684597
        ],
        "speed": 0.7141818240576,
        "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": 12.262554168701172,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                928.9802856445312,
                3575.72607421875,
                370.9302978515625
            ],
            "velocity": [
                -1.2217670679092407,
                7.621213436126709,
                0.024136066436767578
            ],
            "speed_kmh": 27.786821383126895,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.4104695320129395,
                "transform": {
                    "location": {
                        "x": 891.6693725585938,
                        "y": 3574.108642578125,
                        "z": 371.2215881347656
                    },
                    "rotation": {
                        "roll": -0.0019226070726290345,
                        "pitch": -0.1905827522277832,
                        "yaw": 9.315397262573242
                    }
                },
                "velocity": {
                    "x": 5.33953857421875,
                    "y": 0.8724762797355652,
                    "z": -0.03600035980343819
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.7474591732025146,
                "transform": {
                    "location": {
                        "x": 929.4861450195312,
                        "y": 3614.421142578125,
                        "z": 370.8807067871094
                    },
                    "rotation": {
                        "roll": 0.00093969696899876,
                        "pitch": -0.001072339597158134,
                        "yaw": -80.39323425292969
                    }
                },
                "velocity": {
                    "x": 0.1257534623146057,
                    "y": -0.7368030548095703,
                    "z": 0.0016010379185900092
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5881137847900391,
                "transform": {
                    "location": {
                        "x": 905.0653686523438,
                        "y": 3576.28076171875,
                        "z": 371.1219177246094
                    },
                    "rotation": {
                        "roll": -0.0012817435199394822,
                        "pitch": -0.8140287399291992,
                        "yaw": 9.167613983154297
                    }
                },
                "velocity": {
                    "x": 0.5803430676460266,
                    "y": 0.09518582373857498,
                    "z": -0.004403171595185995
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00034044968197122216,
                "transform": {
                    "location": {
                        "x": 962.7288208007812,
                        "y": 3582.607421875,
                        "z": 370.60009765625
                    },
                    "rotation": {
                        "roll": 0.0016407505609095097,
                        "pitch": 0.5929082036018372,
                        "yaw": -170.5953369140625
                    }
                },
                "velocity": {
                    "x": 0.00021960526646580547,
                    "y": -8.031167817534879e-05,
                    "z": 0.0002474460343364626
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.6468505859375,
                        "y": 3491.43359375,
                        "z": 370.71209716796875
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00010484911763342097,
                "transform": {
                    "location": {
                        "x": 934.3120727539062,
                        "y": 3605.114501953125,
                        "z": 370.8898620605469
                    },
                    "rotation": {
                        "roll": -6.103482155594975e-05,
                        "pitch": 0.03377528488636017,
                        "yaw": -80.65274810791016
                    }
                },
                "velocity": {
                    "x": 2.0123137801419944e-05,
                    "y": 9.052163659362122e-05,
                    "z": -4.893086588708684e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00010303535964339972,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.252197265625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -0.0008850099402479827,
                        "pitch": 0.03853592649102211,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": -5.7818233472062275e-05,
                    "y": -2.21553254959872e-05,
                    "z": 8.235580753535032e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00027377597871236503,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.00482894154265523,
                        "pitch": -0.45898187160491943,
                        "yaw": 8.349605560302734
                    }
                },
                "velocity": {
                    "x": 1.66646386787761e-05,
                    "y": 3.2365228435082827e-06,
                    "z": 0.0002732491702772677
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.082812309265137,
                "transform": {
                    "location": {
                        "x": 939.9842529296875,
                        "y": 3507.3486328125,
                        "z": 370.7677001953125
                    },
                    "rotation": {
                        "roll": 0.00027144112391397357,
                        "pitch": 0.16668392717838287,
                        "yaw": 99.14498901367188
                    }
                },
                "velocity": {
                    "x": -1.2847274541854858,
                    "y": 7.980018138885498,
                    "z": 0.02518395334482193
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00011463266855571419,
                "transform": {
                    "location": {
                        "x": 924.6177978515625,
                        "y": 3623.916259765625,
                        "z": 370.879638671875
                    },
                    "rotation": {
                        "roll": 0.0010856400476768613,
                        "pitch": -0.03918479382991791,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -9.856703400146216e-05,
                    "y": -1.4869961887598038e-05,
                    "z": -5.660452734446153e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0007791814859956503,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.00097656378056854,
                        "pitch": -0.03908916935324669,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 4.802211151400115e-06,
                    "y": -4.9762334128899965e-06,
                    "z": -0.0007791508105583489
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1603790521621704,
                "transform": {
                    "location": {
                        "x": 975.0564575195312,
                        "y": 3584.631591796875,
                        "z": 370.46051025390625
                    },
                    "rotation": {
                        "roll": -0.005371093284338713,
                        "pitch": 0.23554588854312897,
                        "yaw": -170.74789428710938
                    }
                },
                "velocity": {
                    "x": -1.1449908018112183,
                    "y": -0.1878015100955963,
                    "z": 0.014356098137795925
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032561302185059,
                "transform": {
                    "location": {
                        "x": 940.7489013671875,
                        "y": 3523.052734375,
                        "z": 370.8095703125
                    },
                    "rotation": {
                        "roll": -0.0007629427709616721,
                        "pitch": 0.15001143515110016,
                        "yaw": 99.12602996826172
                    }
                },
                "velocity": {
                    "x": -1.2744970321655273,
                    "y": 7.930777549743652,
                    "z": 0.021375112235546112
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.126445293426514,
                "transform": {
                    "location": {
                        "x": 937.9237060546875,
                        "y": 3540.616455078125,
                        "z": 370.8456115722656
                    },
                    "rotation": {
                        "roll": 0.0005530536873266101,
                        "pitch": 0.14674660563468933,
                        "yaw": 99.11161041259766
                    }
                },
                "velocity": {
                    "x": -0.9717175960540771,
                    "y": 6.048883438110352,
                    "z": 0.010287494398653507
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2220128774642944,
                "transform": {
                    "location": {
                        "x": 932.4840698242188,
                        "y": 3616.239013671875,
                        "z": 370.8822937011719
                    },
                    "rotation": {
                        "roll": 0.003047216683626175,
                        "pitch": 0.01178890559822321,
                        "yaw": -80.01548767089844
                    }
                },
                "velocity": {
                    "x": 0.20447371900081635,
                    "y": -1.2047832012176514,
                    "z": 0.0017789172707125545
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.71856164932251,
                "transform": {
                    "location": {
                        "x": 928.9802856445312,
                        "y": 3575.72607421875,
                        "z": 370.9302978515625
                    },
                    "rotation": {
                        "roll": -0.1831360012292862,
                        "pitch": 0.40440863370895386,
                        "yaw": 99.1700668334961
                    }
                },
                "velocity": {
                    "x": -1.2217670679092407,
                    "y": 7.621213436126709,
                    "z": 0.024136066436767578
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.011326789855957,
                "transform": {
                    "location": {
                        "x": 904.8846435546875,
                        "y": 3573.52685546875,
                        "z": 371.1251220703125
                    },
                    "rotation": {
                        "roll": 0.00728789484128356,
                        "pitch": 0.43145620822906494,
                        "yaw": -170.74671936035156
                    }
                },
                "velocity": {
                    "x": -7.906881332397461,
                    "y": -1.2880409955978394,
                    "z": 0.059404172003269196
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04928207397461,
                "transform": {
                    "location": {
                        "x": 943.6298217773438,
                        "y": 3505.1552734375,
                        "z": 370.7545471191406
                    },
                    "rotation": {
                        "roll": 0.00022536386677529663,
                        "pitch": 0.16968920826911926,
                        "yaw": 99.16228485107422
                    }
                },
                "velocity": {
                    "x": -1.2817031145095825,
                    "y": 7.946547031402588,
                    "z": 0.023984814062714577
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3989628851413727,
                "transform": {
                    "location": {
                        "x": 935.389404296875,
                        "y": 3556.346435546875,
                        "z": 370.86749267578125
                    },
                    "rotation": {
                        "roll": -0.027893073856830597,
                        "pitch": -0.49362456798553467,
                        "yaw": 100.29769897460938
                    }
                },
                "velocity": {
                    "x": -0.06436928361654282,
                    "y": 0.3937331438064575,
                    "z": 0.0014808845007792115
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.0731987953186035,
                "transform": {
                    "location": {
                        "x": 933.3851318359375,
                        "y": 3571.8662109375,
                        "z": 370.8924255371094
                    },
                    "rotation": {
                        "roll": -0.3684081435203552,
                        "pitch": 0.1577705293893814,
                        "yaw": 91.72663879394531
                    }
                },
                "velocity": {
                    "x": 0.43092668056488037,
                    "y": 6.0578436851501465,
                    "z": 0.023901652544736862
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056329727172852,
                "transform": {
                    "location": {
                        "x": 929.5023193359375,
                        "y": 3592.935302734375,
                        "z": 370.8981018066406
                    },
                    "rotation": {
                        "roll": 0.0011779891792684793,
                        "pitch": 0.011297131888568401,
                        "yaw": 99.15106201171875
                    }
                },
                "velocity": {
                    "x": -1.2802348136901855,
                    "y": 7.953957557678223,
                    "z": 0.0013837337028235197
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3083053529262543,
        "expert_target_speed": 1.5999713387013164,
        "target_point": [
            24.478148263130052,
            1.0985705635252696
        ],
        "target_point_next": [
            42.466981623706396,
            1.7300126649623007
        ]
    },
    "700": {
        "acceleration": [
            -0.35492628812789917,
            2.6616787910461426,
            -0.02031726762652397
        ],
        "angular_velocity": [
            1.136248230934143,
            0.17888641357421875,
            0.4368872344493866
        ],
        "forward_vector": [
            -0.12535016238689423,
            0.9921120405197144,
            0.0010356900747865438
        ],
        "right_vector": [
            -0.9921125769615173,
            -0.12535038590431213,
            0.00013954966561868787
        ],
        "location": [
            931.2306518554688,
            3563.91796875,
            370.87310791015625
        ],
        "rotation": [
            -0.007995611056685448,
            0.05934068188071251,
            97.20098114013672
        ],
        "velocity": [
            -0.1648130714893341,
            1.2135006189346313,
            0.001331329345703125
        ],
        "speed": 1.2246416213278404,
        "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": 14.055948257446289,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                928.6567993164062,
                3577.736083984375,
                370.9412841796875
            ],
            "velocity": [
                -1.3030624389648438,
                8.198426246643066,
                0.037895429879426956
            ],
            "speed_kmh": 29.885117786918645,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.47032615542411804,
                "transform": {
                    "location": {
                        "x": 892.41015625,
                        "y": 3574.23046875,
                        "z": 371.2142028808594
                    },
                    "rotation": {
                        "roll": 0.0005069638718850911,
                        "pitch": 0.06842482835054398,
                        "yaw": 9.395804405212402
                    }
                },
                "velocity": {
                    "x": 0.4636572599411011,
                    "y": 0.07886090129613876,
                    "z": -0.003098011016845703
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.308251142501831,
                "transform": {
                    "location": {
                        "x": 929.5308227539062,
                        "y": 3614.155517578125,
                        "z": 370.8804626464844
                    },
                    "rotation": {
                        "roll": 0.0005172686069272459,
                        "pitch": 0.04865143448114395,
                        "yaw": -80.33894348144531
                    }
                },
                "velocity": {
                    "x": 0.21955300867557526,
                    "y": -1.289695143699646,
                    "z": 0.0020143890287727118
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.35835832357406616,
                "transform": {
                    "location": {
                        "x": 905.294677734375,
                        "y": 3576.318359375,
                        "z": 371.1188049316406
                    },
                    "rotation": {
                        "roll": -0.00143432745244354,
                        "pitch": -0.45157110691070557,
                        "yaw": 9.105432510375977
                    }
                },
                "velocity": {
                    "x": 0.3530193865299225,
                    "y": 0.061535995453596115,
                    "z": -0.003365383017808199
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00036267819814383984,
                "transform": {
                    "location": {
                        "x": 962.7286987304688,
                        "y": 3582.607421875,
                        "z": 370.60009765625
                    },
                    "rotation": {
                        "roll": 0.0019904719665646553,
                        "pitch": 0.5992397665977478,
                        "yaw": -170.5953369140625
                    }
                },
                "velocity": {
                    "x": 7.69659091020003e-05,
                    "y": -0.0001647106691962108,
                    "z": 0.0003138186002615839
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.3265991210938,
                        "y": 3493.424560546875,
                        "z": 370.71929931640625
                    },
                    "rotation": {
                        "roll": 6.670146657228315e-09,
                        "pitch": 0.19894973933696747,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00014148734044283628,
                "transform": {
                    "location": {
                        "x": 934.3120727539062,
                        "y": 3605.1142578125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0006419011624529958,
                        "pitch": 0.037272341549396515,
                        "yaw": -80.65274810791016
                    }
                },
                "velocity": {
                    "x": 4.421116682351567e-05,
                    "y": 4.3826668843394145e-05,
                    "z": 0.00012705614790320396
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2960646674619056e-05,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.252197265625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -0.00015258706116583198,
                        "pitch": 0.03898671641945839,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": 3.4061849873978645e-06,
                    "y": 8.74084889801452e-06,
                    "z": -2.0956782464054413e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.725676550762728e-05,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.006008043885231018,
                        "pitch": -0.4588315784931183,
                        "yaw": 8.349555015563965
                    }
                },
                "velocity": {
                    "x": 1.5960111340973526e-05,
                    "y": 1.4452635923589696e-06,
                    "z": 7.557641220046207e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.050107955932617,
                "transform": {
                    "location": {
                        "x": 939.6639404296875,
                        "y": 3509.3388671875,
                        "z": 370.7735595703125
                    },
                    "rotation": {
                        "roll": 0.0002965408202726394,
                        "pitch": 0.16382208466529846,
                        "yaw": 99.14147186279297
                    }
                },
                "velocity": {
                    "x": -1.2789276838302612,
                    "y": 7.947828769683838,
                    "z": 0.02451086975634098
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3655180931091309,
                "transform": {
                    "location": {
                        "x": 924.5916748046875,
                        "y": 3624.07177734375,
                        "z": 370.8797302246094
                    },
                    "rotation": {
                        "roll": -0.0018615778535604477,
                        "pitch": 0.12743082642555237,
                        "yaw": 99.14888763427734
                    }
                },
                "velocity": {
                    "x": -0.2260775864124298,
                    "y": 1.3466718196868896,
                    "z": -0.0018600368639454246
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00023952093033585697,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.0010681143030524254,
                        "pitch": -0.03924626484513283,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.2923460417368915e-05,
                    "y": -8.897296766008367e-07,
                    "z": -0.00023917037469800562
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.019038200378418,
                "transform": {
                    "location": {
                        "x": 974.6621704101562,
                        "y": 3584.56689453125,
                        "z": 370.4631652832031
                    },
                    "rotation": {
                        "roll": -0.004730223212391138,
                        "pitch": 0.796639084815979,
                        "yaw": -170.74588012695312
                    }
                },
                "velocity": {
                    "x": -1.9921537637710571,
                    "y": -0.3275948166847229,
                    "z": 0.022807864472270012
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031487464904785,
                "transform": {
                    "location": {
                        "x": 940.4302368164062,
                        "y": 3525.03515625,
                        "z": 370.8147888183594
                    },
                    "rotation": {
                        "roll": 0.00017579786072019488,
                        "pitch": 0.1410912126302719,
                        "yaw": 99.15766906738281
                    }
                },
                "velocity": {
                    "x": -1.2757240533828735,
                    "y": 7.9294939041137695,
                    "z": 0.021294202655553818
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.716345310211182,
                "transform": {
                    "location": {
                        "x": 937.6351928710938,
                        "y": 3542.40966796875,
                        "z": 370.84912109375
                    },
                    "rotation": {
                        "roll": -0.0003967430384363979,
                        "pitch": 0.29090458154678345,
                        "yaw": 99.14044189453125
                    }
                },
                "velocity": {
                    "x": -1.225644826889038,
                    "y": 7.618371486663818,
                    "z": 0.014075994491577148
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2248117923736572,
                "transform": {
                    "location": {
                        "x": 932.5567016601562,
                        "y": 3615.8134765625,
                        "z": 370.8815002441406
                    },
                    "rotation": {
                        "roll": 0.007922369986772537,
                        "pitch": 0.3214423358440399,
                        "yaw": -80.1615219116211
                    }
                },
                "velocity": {
                    "x": 0.3711167573928833,
                    "y": -2.1936397552490234,
                    "z": 0.0021025275345891714
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.301422119140625,
                "transform": {
                    "location": {
                        "x": 928.6567993164062,
                        "y": 3577.736083984375,
                        "z": 370.9412841796875
                    },
                    "rotation": {
                        "roll": -0.43664541840553284,
                        "pitch": -0.012847584672272205,
                        "yaw": 99.1355972290039
                    }
                },
                "velocity": {
                    "x": -1.3030624389648438,
                    "y": 8.198426246643066,
                    "z": 0.037895429879426956
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035348892211914,
                "transform": {
                    "location": {
                        "x": 902.9048461914062,
                        "y": 3573.205322265625,
                        "z": 371.13970947265625
                    },
                    "rotation": {
                        "roll": 0.009791094809770584,
                        "pitch": 0.42237886786460876,
                        "yaw": -170.78297424316406
                    }
                },
                "velocity": {
                    "x": -7.931808948516846,
                    "y": -1.2845399379730225,
                    "z": 0.05650605261325836
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.062382698059082,
                "transform": {
                    "location": {
                        "x": 943.3087768554688,
                        "y": 3507.145263671875,
                        "z": 370.7604064941406
                    },
                    "rotation": {
                        "roll": 0.0005695628933608532,
                        "pitch": 0.16964823007583618,
                        "yaw": 99.16205596923828
                    }
                },
                "velocity": {
                    "x": -1.2838069200515747,
                    "y": 7.959480285644531,
                    "z": 0.023077955469489098
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5967398881912231,
                "transform": {
                    "location": {
                        "x": 935.344970703125,
                        "y": 3556.615234375,
                        "z": 370.86865234375
                    },
                    "rotation": {
                        "roll": -0.0024414043873548508,
                        "pitch": 0.0734996646642685,
                        "yaw": 100.12356567382812
                    }
                },
                "velocity": {
                    "x": -0.26274237036705017,
                    "y": 1.5749725103378296,
                    "z": 0.002486343262717128
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.6101789474487305,
                "transform": {
                    "location": {
                        "x": 933.5706787109375,
                        "y": 3573.61083984375,
                        "z": 370.8949279785156
                    },
                    "rotation": {
                        "roll": -0.6968382596969604,
                        "pitch": 0.04339902102947235,
                        "yaw": 85.06512451171875
                    }
                },
                "velocity": {
                    "x": 1.6812800168991089,
                    "y": 7.422126293182373,
                    "z": -0.012817745096981525
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049965858459473,
                "transform": {
                    "location": {
                        "x": 929.1822509765625,
                        "y": 3594.92333984375,
                        "z": 370.8979187011719
                    },
                    "rotation": {
                        "roll": 0.000139368959935382,
                        "pitch": -0.014193132519721985,
                        "yaw": 99.14539337158203
                    }
                },
                "velocity": {
                    "x": -1.2796504497528076,
                    "y": 7.947606086730957,
                    "z": -0.0020328236278146505
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.32071396708488464,
        "expert_target_speed": 2.2139196767621927,
        "target_point": [
            24.23730404426774,
            1.0672526841857026
        ],
        "target_point_next": [
            42.226882013861974,
            1.6771127320175863
        ]
    },
    "705": {
        "acceleration": [
            -0.3855621814727783,
            2.6025962829589844,
            0.0019083032384514809
        ],
        "angular_velocity": [
            0.5082390308380127,
            0.07824993878602982,
            0.7857797145843506
        ],
        "forward_vector": [
            -0.12836392223834991,
            0.9917174577713013,
            0.004374251700937748
        ],
        "right_vector": [
            -0.9917267560958862,
            -0.1283663958311081,
            0.00028868389199487865
        ],
        "location": [
            931.1776123046875,
            3564.3046875,
            370.8727722167969
        ],
        "rotation": [
            -0.01654052734375,
            0.25062695145606995,
            97.37512969970703
        ],
        "velocity": [
            -0.26205089688301086,
            1.8612390756607056,
            0.001877422328107059
        ],
        "speed": 1.8795961186711119,
        "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": 15.688590049743652,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                928.3373413085938,
                3579.73388671875,
                370.9400939941406
            ],
            "velocity": [
                -1.253294825553894,
                7.8036956787109375,
                -0.00480212178081274
            ],
            "speed_kmh": 28.45331169564993,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1324759721755981,
                "transform": {
                    "location": {
                        "x": 892.55419921875,
                        "y": 3574.25439453125,
                        "z": 371.2164611816406
                    },
                    "rotation": {
                        "roll": -3.051789462915622e-05,
                        "pitch": -0.325437992811203,
                        "yaw": 9.351639747619629
                    }
                },
                "velocity": {
                    "x": 1.1177154779434204,
                    "y": 0.18211735785007477,
                    "z": -0.006883287336677313
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8781278133392334,
                "transform": {
                    "location": {
                        "x": 929.5999145507812,
                        "y": 3613.751220703125,
                        "z": 370.880615234375
                    },
                    "rotation": {
                        "roll": -9.155392035609111e-05,
                        "pitch": 0.05738724768161774,
                        "yaw": -80.38536834716797
                    }
                },
                "velocity": {
                    "x": 0.3145228326320648,
                    "y": -1.851603627204895,
                    "z": 0.0018288707360625267
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0023493848275393248,
                "transform": {
                    "location": {
                        "x": 905.2952270507812,
                        "y": 3576.318603515625,
                        "z": 371.11956787109375
                    },
                    "rotation": {
                        "roll": 0.0029438473284244537,
                        "pitch": -0.644196093082428,
                        "yaw": 9.102579116821289
                    }
                },
                "velocity": {
                    "x": -0.002211851067841053,
                    "y": -0.00047522829845547676,
                    "z": -0.000633625837508589
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00019107741536572576,
                "transform": {
                    "location": {
                        "x": 962.7286987304688,
                        "y": 3582.607421875,
                        "z": 370.60009765625
                    },
                    "rotation": {
                        "roll": 0.0024777809157967567,
                        "pitch": 0.6015074253082275,
                        "yaw": -170.59523010253906
                    }
                },
                "velocity": {
                    "x": 2.3462771423510276e-05,
                    "y": 7.541399099864066e-05,
                    "z": 0.0001739908184390515
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 942.0062255859375,
                        "y": 3495.4150390625,
                        "z": 370.72613525390625
                    },
                    "rotation": {
                        "roll": -6.670142216336217e-09,
                        "pitch": 0.18647781014442444,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00012139019963797182,
                "transform": {
                    "location": {
                        "x": 934.3120727539062,
                        "y": 3605.1142578125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0008066612062975764,
                        "pitch": 0.03830369934439659,
                        "yaw": -80.65274810791016
                    }
                },
                "velocity": {
                    "x": 2.996714465552941e-05,
                    "y": 1.7876913261716254e-05,
                    "z": -0.00011626679042819887
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.943430632119998e-05,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.252197265625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -0.00018310612358618528,
                        "pitch": 0.03895939514040947,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": -5.174400030227844e-06,
                    "y": 1.87252171599539e-05,
                    "z": -9.751806646818295e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00044746178900822997,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.006008043885231018,
                        "pitch": -0.4588315784931183,
                        "yaw": 8.349555015563965
                    }
                },
                "velocity": {
                    "x": 1.973614052985795e-05,
                    "y": 1.2302398317842744e-05,
                    "z": 0.00044685701141133904
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.090472221374512,
                "transform": {
                    "location": {
                        "x": 939.3434448242188,
                        "y": 3511.33154296875,
                        "z": 370.7793273925781
                    },
                    "rotation": {
                        "roll": 0.00036060073762200773,
                        "pitch": 0.1636035144329071,
                        "yaw": 99.13825225830078
                    }
                },
                "velocity": {
                    "x": -1.284942388534546,
                    "y": 7.987752437591553,
                    "z": 0.021709909662604332
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4691014289855957,
                "transform": {
                    "location": {
                        "x": 924.5111694335938,
                        "y": 3624.55126953125,
                        "z": 370.8793640136719
                    },
                    "rotation": {
                        "roll": -0.0025024444330483675,
                        "pitch": 0.13784687221050262,
                        "yaw": 99.17816162109375
                    }
                },
                "velocity": {
                    "x": -0.4097523093223572,
                    "y": 2.434863328933716,
                    "z": -0.002337179146707058
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.001105085713788867,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.0006713863695040345,
                        "pitch": -0.03933505713939667,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 0.00013859578757546842,
                    "y": 5.0247756007593125e-05,
                    "z": -0.0010952081065624952
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 371.0240478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.04827577620744705,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5394220948219299,
                "transform": {
                    "location": {
                        "x": 974.1945190429688,
                        "y": 3584.489990234375,
                        "z": 370.4696350097656
                    },
                    "rotation": {
                        "roll": -0.001312259933911264,
                        "pitch": 0.5319145917892456,
                        "yaw": -170.68890380859375
                    }
                },
                "velocity": {
                    "x": -0.5323534607887268,
                    "y": -0.08677923679351807,
                    "z": 0.006736021023243666
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032849311828613,
                "transform": {
                    "location": {
                        "x": 940.1111450195312,
                        "y": 3527.017822265625,
                        "z": 370.81982421875
                    },
                    "rotation": {
                        "roll": -0.00015259248903021216,
                        "pitch": 0.14190399646759033,
                        "yaw": 99.11949157714844
                    }
                },
                "velocity": {
                    "x": -1.2757222652435303,
                    "y": 7.930873870849609,
                    "z": 0.021085567772388458
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.679080009460449,
                "transform": {
                    "location": {
                        "x": 937.3469848632812,
                        "y": 3544.198974609375,
                        "z": 370.8517150878906
                    },
                    "rotation": {
                        "roll": -0.0005187984206713736,
                        "pitch": 0.015128868632018566,
                        "yaw": 99.1441879272461
                    }
                },
                "velocity": {
                    "x": -1.061613917350769,
                    "y": 6.594162464141846,
                    "z": 0.010142555460333824
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.316209316253662,
                "transform": {
                    "location": {
                        "x": 932.648193359375,
                        "y": 3615.275146484375,
                        "z": 370.88275146484375
                    },
                    "rotation": {
                        "roll": 0.010756522417068481,
                        "pitch": 0.05878743529319763,
                        "yaw": -80.3797607421875
                    }
                },
                "velocity": {
                    "x": 0.21602782607078552,
                    "y": -1.2983590364456177,
                    "z": 0.0016294860979542136
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.903697490692139,
                "transform": {
                    "location": {
                        "x": 928.3373413085938,
                        "y": 3579.73388671875,
                        "z": 370.9400939941406
                    },
                    "rotation": {
                        "roll": -0.33374014496803284,
                        "pitch": -0.0283247921615839,
                        "yaw": 99.14128112792969
                    }
                },
                "velocity": {
                    "x": -1.253294825553894,
                    "y": 7.8036956787109375,
                    "z": -0.00480212178081274
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.016851425170898,
                "transform": {
                    "location": {
                        "x": 900.9241333007812,
                        "y": 3572.884521484375,
                        "z": 371.1539611816406
                    },
                    "rotation": {
                        "roll": 0.005869177635759115,
                        "pitch": 0.41334936022758484,
                        "yaw": -170.8094482421875
                    }
                },
                "velocity": {
                    "x": -7.913761615753174,
                    "y": -1.2802565097808838,
                    "z": 0.056775789707899094
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.034960746765137,
                "transform": {
                    "location": {
                        "x": 942.989013671875,
                        "y": 3509.130859375,
                        "z": 370.7662658691406
                    },
                    "rotation": {
                        "roll": 0.0005753524601459503,
                        "pitch": 0.16699127852916718,
                        "yaw": 99.15039825439453
                    }
                },
                "velocity": {
                    "x": -1.2778232097625732,
                    "y": 7.93267297744751,
                    "z": 0.021542023867368698
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.7246668338775635,
                "transform": {
                    "location": {
                        "x": 935.2572631835938,
                        "y": 3557.146240234375,
                        "z": 370.8694763183594
                    },
                    "rotation": {
                        "roll": 0.005174883641302586,
                        "pitch": 0.21105283498764038,
                        "yaw": 99.83834838867188
                    }
                },
                "velocity": {
                    "x": -0.44394010305404663,
                    "y": 2.688255548477173,
                    "z": 0.0028646562714129686
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.14642333984375,
                "transform": {
                    "location": {
                        "x": 934.1364135742188,
                        "y": 3575.513671875,
                        "z": 370.8935852050781
                    },
                    "rotation": {
                        "roll": -0.9365538954734802,
                        "pitch": -0.23538196086883545,
                        "yaw": 73.97470092773438
                    }
                },
                "velocity": {
                    "x": 3.4648494720458984,
                    "y": 7.372786521911621,
                    "z": -0.03248540312051773
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048011779785156,
                "transform": {
                    "location": {
                        "x": 928.8624877929688,
                        "y": 3596.90966796875,
                        "z": 370.8973083496094
                    },
                    "rotation": {
                        "roll": 0.0007477990002371371,
                        "pitch": -0.024076415225863457,
                        "yaw": 99.14622497558594
                    }
                },
                "velocity": {
                    "x": -1.2782795429229736,
                    "y": 7.945847511291504,
                    "z": -0.0024782370310276747
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3242129683494568,
        "expert_target_speed": 2.9131222491916375,
        "target_point": [
            23.8501082475697,
            0.9906166742399449
        ],
        "target_point_next": [
            41.84145683975461,
            1.5457928953964926
        ]
    },
    "710": {
        "acceleration": [
            -0.8283001184463501,
            5.247488021850586,
            0.0031118420884013176
        ],
        "angular_velocity": [
            0.8140305876731873,
            0.18198691308498383,
            1.3238224983215332
        ],
        "forward_vector": [
            -0.13295723497867584,
            0.9910951256752014,
            0.007269199006259441
        ],
        "right_vector": [
            -0.9911206960678101,
            -0.13296420872211456,
            0.00048095404054038227
        ],
        "location": [
            931.0933227539062,
            3564.897216796875,
            370.8727111816406
        ],
        "rotation": [
            -0.027557365596294403,
            0.4164980947971344,
            97.64071655273438
        ],
        "velocity": [
            -0.42675119638442993,
            2.9254140853881836,
            0.0022425842471420765
        ],
        "speed": 2.956376862749931,
        "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": 17.074722290039062,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                928.0232543945312,
                3581.693603515625,
                370.9200439453125
            ],
            "velocity": [
                -1.2890671491622925,
                7.955904960632324,
                -0.15565983951091766
            ],
            "speed_kmh": 29.020186561239882,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0482611656188965,
                "transform": {
                    "location": {
                        "x": 892.9517822265625,
                        "y": 3574.3193359375,
                        "z": 371.2149658203125
                    },
                    "rotation": {
                        "roll": -0.0008850119193084538,
                        "pitch": -0.4626155197620392,
                        "yaw": 9.334819793701172
                    }
                },
                "velocity": {
                    "x": 2.021528482437134,
                    "y": 0.32952776551246643,
                    "z": -0.014410142786800861
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0013793067773804069,
                "transform": {
                    "location": {
                        "x": 929.654052734375,
                        "y": 3613.433349609375,
                        "z": 370.8814392089844
                    },
                    "rotation": {
                        "roll": 0.00025872341939248145,
                        "pitch": -0.011324453167617321,
                        "yaw": -80.3818130493164
                    }
                },
                "velocity": {
                    "x": 0.00013426222722046077,
                    "y": -9.595533629180863e-05,
                    "z": 0.00136939890217036
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0008161359000951052,
                "transform": {
                    "location": {
                        "x": 905.2960205078125,
                        "y": 3576.318603515625,
                        "z": 371.11907958984375
                    },
                    "rotation": {
                        "roll": 0.0001717856794130057,
                        "pitch": -0.5212048888206482,
                        "yaw": 9.102558135986328
                    }
                },
                "velocity": {
                    "x": -0.0005811125738546252,
                    "y": -0.00011398013157304376,
                    "z": -0.0005615999107249081
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001875963353086263,
                "transform": {
                    "location": {
                        "x": 962.7286987304688,
                        "y": 3582.607421875,
                        "z": 370.60009765625
                    },
                    "rotation": {
                        "roll": 0.0017867701826617122,
                        "pitch": 0.6022177338600159,
                        "yaw": -170.59521484375
                    }
                },
                "velocity": {
                    "x": 2.9584169169538654e-05,
                    "y": -1.7753988004187704e-06,
                    "z": 0.00018524040933698416
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.726200580596924,
                "transform": {
                    "location": {
                        "x": 941.6817626953125,
                        "y": 3497.3310546875,
                        "z": 370.7349548339844
                    },
                    "rotation": {
                        "roll": 0.015177587978541851,
                        "pitch": 0.2022077441215515,
                        "yaw": 99.58597564697266
                    }
                },
                "velocity": {
                    "x": -1.3266760110855103,
                    "y": 7.6113739013671875,
                    "z": 0.033038750290870667
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.664261698257178e-05,
                "transform": {
                    "location": {
                        "x": 934.3120727539062,
                        "y": 3605.1142578125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0008066612062975764,
                        "pitch": 0.03830369934439659,
                        "yaw": -80.65274810791016
                    }
                },
                "velocity": {
                    "x": 4.421807898324914e-05,
                    "y": -5.423086349765072e-06,
                    "z": 3.4981963835889474e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004591896722558886,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.252197265625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -0.0005187992937862873,
                        "pitch": 0.03907550871372223,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": 2.2118860215414315e-05,
                    "y": -1.576926115376409e-05,
                    "z": -0.0004583854752127081
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004237908578943461,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.0384826660156
                    },
                    "rotation": {
                        "roll": 0.005633722059428692,
                        "pitch": -0.4583739638328552,
                        "yaw": 8.349502563476562
                    }
                },
                "velocity": {
                    "x": 1.5335381249315105e-05,
                    "y": 3.6104675018577836e-06,
                    "z": 0.0004234979278407991
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.057353973388672,
                "transform": {
                    "location": {
                        "x": 939.0228881835938,
                        "y": 3513.32421875,
                        "z": 370.78472900390625
                    },
                    "rotation": {
                        "roll": 5.6949582358356565e-05,
                        "pitch": 0.15768857300281525,
                        "yaw": 99.13775634765625
                    }
                },
                "velocity": {
                    "x": -1.2795813083648682,
                    "y": 7.955072402954102,
                    "z": 0.02129524201154709
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.977871894836426,
                "transform": {
                    "location": {
                        "x": 924.3758544921875,
                        "y": 3625.349365234375,
                        "z": 370.87884521484375
                    },
                    "rotation": {
                        "roll": -0.004699701443314552,
                        "pitch": 0.18523472547531128,
                        "yaw": 99.3919906616211
                    }
                },
                "velocity": {
                    "x": -0.6666156053543091,
                    "y": 3.9216179847717285,
                    "z": -0.0014049147721379995
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86287,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 927.1636352539062,
                        "y": 3628.552490234375,
                        "z": 370.959716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03854275494813919,
                        "yaw": -80.85749816894531
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00047280493890866637,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": 0.00015687092673033476,
                        "pitch": -0.039580944925546646,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 1.9686105588334613e-05,
                    "y": -5.049863830208778e-06,
                    "z": -0.0004723679448943585
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4692842662334442,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.9941711425781
                    },
                    "rotation": {
                        "roll": -3.052074680454098e-05,
                        "pitch": -0.047599583864212036,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": 0.00021827344608027488,
                    "y": -0.0003187739639542997,
                    "z": -0.4692841172218323
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0925486087799072,
                "transform": {
                    "location": {
                        "x": 974.0564575195312,
                        "y": 3584.467529296875,
                        "z": 370.47113037109375
                    },
                    "rotation": {
                        "roll": 0.00022016406001057476,
                        "pitch": 0.560485303401947,
                        "yaw": -170.67189025878906
                    }
                },
                "velocity": {
                    "x": -1.077870488166809,
                    "y": -0.1780078262090683,
                    "z": 0.013073339127004147
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.562178611755371,
                "transform": {
                    "location": {
                        "x": 939.7982788085938,
                        "y": 3528.963623046875,
                        "z": 370.8244323730469
                    },
                    "rotation": {
                        "roll": 0.0001241713180206716,
                        "pitch": 0.18160106241703033,
                        "yaw": 99.15924072265625
                    }
                },
                "velocity": {
                    "x": -1.2029736042022705,
                    "y": 7.465855598449707,
                    "z": 0.020073633641004562
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5432941913604736,
                "transform": {
                    "location": {
                        "x": 937.1619262695312,
                        "y": 3545.3486328125,
                        "z": 370.8526611328125
                    },
                    "rotation": {
                        "roll": -9.154280269285664e-05,
                        "pitch": -0.4029606580734253,
                        "yaw": 99.13723754882812
                    }
                },
                "velocity": {
                    "x": -0.40436622500419617,
                    "y": 2.510939359664917,
                    "z": 0.00410504313185811
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.004514866508543491,
                "transform": {
                    "location": {
                        "x": 932.65234375,
                        "y": 3615.25244140625,
                        "z": 370.884521484375
                    },
                    "rotation": {
                        "roll": 0.0018364344723522663,
                        "pitch": -0.41211310029029846,
                        "yaw": -80.42982482910156
                    }
                },
                "velocity": {
                    "x": -0.0009230170398950577,
                    "y": 0.004367710091173649,
                    "z": 0.0006746620638296008
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.061162948608398,
                "transform": {
                    "location": {
                        "x": 928.0232543945312,
                        "y": 3581.693603515625,
                        "z": 370.9200439453125
                    },
                    "rotation": {
                        "roll": -0.0661926418542862,
                        "pitch": -0.7618392705917358,
                        "yaw": 99.16561889648438
                    }
                },
                "velocity": {
                    "x": -1.2890671491622925,
                    "y": 7.955904960632324,
                    "z": -0.15565983951091766
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031476020812988,
                "transform": {
                    "location": {
                        "x": 898.9440307617188,
                        "y": 3572.564697265625,
                        "z": 371.1680908203125
                    },
                    "rotation": {
                        "roll": 0.004280992783606052,
                        "pitch": 0.4140118956565857,
                        "yaw": -170.82614135742188
                    }
                },
                "velocity": {
                    "x": -7.928569316864014,
                    "y": -1.2803330421447754,
                    "z": 0.056065455079078674
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059688568115234,
                "transform": {
                    "location": {
                        "x": 942.669189453125,
                        "y": 3511.117431640625,
                        "z": 370.77191162109375
                    },
                    "rotation": {
                        "roll": 0.0003885085752699524,
                        "pitch": 0.1635010540485382,
                        "yaw": 99.1455078125
                    }
                },
                "velocity": {
                    "x": -1.2810306549072266,
                    "y": 7.957202434539795,
                    "z": 0.021618012338876724
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.199512958526611,
                "transform": {
                    "location": {
                        "x": 935.1172485351562,
                        "y": 3558.001708984375,
                        "z": 370.8705139160156
                    },
                    "rotation": {
                        "roll": 0.007871541194617748,
                        "pitch": 0.2810690999031067,
                        "yaw": 99.5595703125
                    }
                },
                "velocity": {
                    "x": -0.676072895526886,
                    "y": 4.14473295211792,
                    "z": 0.004577388521283865
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.932476997375488,
                "transform": {
                    "location": {
                        "x": 935.1221923828125,
                        "y": 3577.22998046875,
                        "z": 370.8816833496094
                    },
                    "rotation": {
                        "roll": -0.8492431044578552,
                        "pitch": -0.28738701343536377,
                        "yaw": 60.499900817871094
                    }
                },
                "velocity": {
                    "x": 4.996233940124512,
                    "y": 6.16105318069458,
                    "z": -0.05713897570967674
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052277565002441,
                "transform": {
                    "location": {
                        "x": 928.5426635742188,
                        "y": 3598.896728515625,
                        "z": 370.896484375
                    },
                    "rotation": {
                        "roll": -0.0005493166390806437,
                        "pitch": -0.022642076015472412,
                        "yaw": 99.14169311523438
                    }
                },
                "velocity": {
                    "x": -1.279528260231018,
                    "y": 7.949966907501221,
                    "z": -0.00338262552395463
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3249496817588806,
        "expert_target_speed": 3.997756441228452,
        "target_point": [
            23.255968442490285,
            0.8752896629228144
        ],
        "target_point_next": [
            41.24969728155782,
            1.3470600182451795
        ]
    },
    "715": {
        "acceleration": [
            -0.9319698810577393,
            5.53532600402832,
            0.007373238913714886
        ],
        "angular_velocity": [
            0.43166646361351013,
            0.11737772822380066,
            1.8099654912948608
        ],
        "forward_vector": [
            -0.13986016809940338,
            0.9901148080825806,
            0.010575096122920513
        ],
        "right_vector": [
            -0.9901687502861023,
            -0.13987596333026886,
            0.0007658815011382103
        ],
        "location": [
            930.9573364257812,
            3565.819091796875,
            370.8728942871094
        ],
        "rotation": [
            -0.04388423636555672,
            0.6059197187423706,
            98.04020690917969
        ],
        "velocity": [
            -0.6617200374603271,
            4.36348295211792,
            0.0031485462095588446
        ],
        "speed": 4.413372506530602,
        "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": 18.159391403198242,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                927.7022705078125,
                3583.684326171875,
                370.9109191894531
            ],
            "velocity": [
                -1.2824889421463013,
                7.939246654510498,
                -0.0374438613653183
            ],
            "speed_kmh": 28.952107231140598,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8179481029510498,
                "transform": {
                    "location": {
                        "x": 893.4625854492188,
                        "y": 3574.40283203125,
                        "z": 371.2109680175781
                    },
                    "rotation": {
                        "roll": -0.0011596644762903452,
                        "pitch": -0.387237548828125,
                        "yaw": 9.3173189163208
                    }
                },
                "velocity": {
                    "x": 1.794180989265442,
                    "y": 0.29273509979248047,
                    "z": -0.012499951757490635
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0013987710699439049,
                "transform": {
                    "location": {
                        "x": 929.654052734375,
                        "y": 3613.43310546875,
                        "z": 370.8811950683594
                    },
                    "rotation": {
                        "roll": 8.748511754674837e-05,
                        "pitch": 0.01796339638531208,
                        "yaw": -80.3818130493164
                    }
                },
                "velocity": {
                    "x": -3.849362110486254e-05,
                    "y": 5.848883665748872e-05,
                    "z": 0.0013970175059512258
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0009555413271300495,
                "transform": {
                    "location": {
                        "x": 905.2962036132812,
                        "y": 3576.318603515625,
                        "z": 371.118896484375
                    },
                    "rotation": {
                        "roll": -0.00015258710482157767,
                        "pitch": -0.46804550290107727,
                        "yaw": 9.102534294128418
                    }
                },
                "velocity": {
                    "x": -0.00044945350964553654,
                    "y": -0.0002404643892077729,
                    "z": -0.0008082250133156776
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.764185748877935e-05,
                "transform": {
                    "location": {
                        "x": 962.7286987304688,
                        "y": 3582.607421875,
                        "z": 370.60009765625
                    },
                    "rotation": {
                        "roll": 0.0014426936395466328,
                        "pitch": 0.6021904349327087,
                        "yaw": -170.59521484375
                    }
                },
                "velocity": {
                    "x": 2.5396868295501918e-05,
                    "y": -1.96566793420061e-06,
                    "z": 2.7713616873370484e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.768758773803711,
                "transform": {
                    "location": {
                        "x": 941.352294921875,
                        "y": 3499.240234375,
                        "z": 370.7422180175781
                    },
                    "rotation": {
                        "roll": -0.005096429493278265,
                        "pitch": 0.18964701890945435,
                        "yaw": 99.74192810058594
                    }
                },
                "velocity": {
                    "x": -1.2945141792297363,
                    "y": 7.660104751586914,
                    "z": 0.02535264939069748
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002480778202880174,
                "transform": {
                    "location": {
                        "x": 934.3120727539062,
                        "y": 3605.1142578125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0008066612062975764,
                        "pitch": 0.03830369934439659,
                        "yaw": -80.65274810791016
                    }
                },
                "velocity": {
                    "x": 1.8821579942596145e-05,
                    "y": -1.5079974673426477e-06,
                    "z": -0.0002473581989761442
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.602500434382819e-06,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.252197265625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -0.0002746567188296467,
                        "pitch": 0.03897305577993393,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": -6.251414106372977e-06,
                    "y": -8.221296639021602e-07,
                    "z": -1.958810798896593e-06
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00030509725911542773,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.00583433173596859,
                        "pitch": -0.45849692821502686,
                        "yaw": 8.349496841430664
                    }
                },
                "velocity": {
                    "x": 2.019815110543277e-05,
                    "y": 2.2284034457698e-06,
                    "z": 0.0003044197801500559
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.084698677062988,
                "transform": {
                    "location": {
                        "x": 938.702392578125,
                        "y": 3515.31640625,
                        "z": 370.7902526855469
                    },
                    "rotation": {
                        "roll": -0.0003662169328890741,
                        "pitch": 0.15807105600833893,
                        "yaw": 99.13777160644531
                    }
                },
                "velocity": {
                    "x": -1.2839148044586182,
                    "y": 7.982069969177246,
                    "z": 0.021703796461224556
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.366635799407959,
                "transform": {
                    "location": {
                        "x": 924.17724609375,
                        "y": 3626.51025390625,
                        "z": 370.8783874511719
                    },
                    "rotation": {
                        "roll": -0.0051269507966935635,
                        "pitch": 0.1857743114233017,
                        "yaw": 99.60028839111328
                    }
                },
                "velocity": {
                    "x": -0.9072832465171814,
                    "y": 5.289387226104736,
                    "z": -0.0012784290593117476
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86287,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.15438030660152435,
                "transform": {
                    "location": {
                        "x": 927.1636352539062,
                        "y": 3628.552490234375,
                        "z": 370.8433837890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03889792412519455,
                        "yaw": -80.85746002197266
                    }
                },
                "velocity": {
                    "x": -0.0001918596972245723,
                    "y": 7.429144898196682e-05,
                    "z": 0.1543801724910736
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0012696622870862484,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.00012207130203023553,
                        "pitch": -0.03948532044887543,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -6.611773278564215e-05,
                    "y": -2.9229129722807556e-05,
                    "z": -0.0012676026672124863
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.2955171763896942,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8764343261719
                    },
                    "rotation": {
                        "roll": 0.0003241038939449936,
                        "pitch": -0.04613792523741722,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": 9.361494448967278e-05,
                    "y": -0.00020716468861792237,
                    "z": -0.29551708698272705
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8122131824493408,
                "transform": {
                    "location": {
                        "x": 973.6990356445312,
                        "y": 3584.40869140625,
                        "z": 370.4742431640625
                    },
                    "rotation": {
                        "roll": 0.0002792494196910411,
                        "pitch": 0.8687180280685425,
                        "yaw": -170.67254638671875
                    }
                },
                "velocity": {
                    "x": -1.7880332469940186,
                    "y": -0.29436078667640686,
                    "z": 0.020136985927820206
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9947288036346436,
                "transform": {
                    "location": {
                        "x": 939.5633544921875,
                        "y": 3530.47607421875,
                        "z": 370.8262023925781
                    },
                    "rotation": {
                        "roll": 0.008665746077895164,
                        "pitch": 0.42415472865104675,
                        "yaw": 100.36791229248047
                    }
                },
                "velocity": {
                    "x": -0.6793384552001953,
                    "y": 3.9365358352661133,
                    "z": 0.006528052967041731
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7447840571403503,
                "transform": {
                    "location": {
                        "x": 937.1331176757812,
                        "y": 3545.528076171875,
                        "z": 370.8531799316406
                    },
                    "rotation": {
                        "roll": 0.00034189908183179796,
                        "pitch": -0.23180978000164032,
                        "yaw": 99.18386840820312
                    }
                },
                "velocity": {
                    "x": -0.11868047714233398,
                    "y": 0.7352648973464966,
                    "z": 0.0019347285851836205
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0027574070263653994,
                "transform": {
                    "location": {
                        "x": 932.6526489257812,
                        "y": 3615.2509765625,
                        "z": 370.8834533691406
                    },
                    "rotation": {
                        "roll": 0.000236409148783423,
                        "pitch": -0.1259486824274063,
                        "yaw": -80.42986297607422
                    }
                },
                "velocity": {
                    "x": -0.0004480307106859982,
                    "y": 0.0023963283747434616,
                    "z": 0.0012884767493233085
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.042252540588379,
                "transform": {
                    "location": {
                        "x": 927.7022705078125,
                        "y": 3583.684326171875,
                        "z": 370.9109191894531
                    },
                    "rotation": {
                        "roll": -0.05090326815843582,
                        "pitch": -0.5953056216239929,
                        "yaw": 99.1851577758789
                    }
                },
                "velocity": {
                    "x": -1.2824889421463013,
                    "y": 7.939246654510498,
                    "z": -0.0374438613653183
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018736839294434,
                "transform": {
                    "location": {
                        "x": 896.9634399414062,
                        "y": 3572.2451171875,
                        "z": 371.18194580078125
                    },
                    "rotation": {
                        "roll": 0.0030016950331628323,
                        "pitch": 0.4019429385662079,
                        "yaw": -170.8367462158203
                    }
                },
                "velocity": {
                    "x": -7.9162116050720215,
                    "y": -1.2769123315811157,
                    "z": 0.056809358298778534
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.0426664352417,
                "transform": {
                    "location": {
                        "x": 942.3493041992188,
                        "y": 3513.1044921875,
                        "z": 370.7774658203125
                    },
                    "rotation": {
                        "roll": -6.103837949922308e-05,
                        "pitch": 0.1579412817955017,
                        "yaw": 99.1453628540039
                    }
                },
                "velocity": {
                    "x": -1.2782849073410034,
                    "y": 7.940403461456299,
                    "z": 0.021462783217430115
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.475864887237549,
                "transform": {
                    "location": {
                        "x": 934.9204711914062,
                        "y": 3559.213623046875,
                        "z": 370.87213134765625
                    },
                    "rotation": {
                        "roll": 0.00485617108643055,
                        "pitch": 0.26956707239151,
                        "yaw": 99.33814239501953
                    }
                },
                "velocity": {
                    "x": -0.876078724861145,
                    "y": 5.405325412750244,
                    "z": 0.006305188871920109
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03963851928711,
                "transform": {
                    "location": {
                        "x": 936.4513549804688,
                        "y": 3578.700439453125,
                        "z": 370.86737060546875
                    },
                    "rotation": {
                        "roll": -0.72637939453125,
                        "pitch": -0.3933369219303131,
                        "yaw": 48.22560501098633
                    }
                },
                "velocity": {
                    "x": 6.23297119140625,
                    "y": 5.077617168426514,
                    "z": -0.060460399836301804
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.049978256225586,
                "transform": {
                    "location": {
                        "x": 928.2229614257812,
                        "y": 3600.884033203125,
                        "z": 370.89544677734375
                    },
                    "rotation": {
                        "roll": 0.00034385905019007623,
                        "pitch": -0.034758832305669785,
                        "yaw": 99.1408920288086
                    }
                },
                "velocity": {
                    "x": -1.278603196144104,
                    "y": 7.947785377502441,
                    "z": -0.005379743408411741
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.32525721192359924,
        "expert_target_speed": 5.400622803888573,
        "target_point": [
            22.329672327142625,
            0.7074238109283089
        ],
        "target_point_next": [
            40.32625294084909,
            1.0537343889020816
        ]
    },
    "720": {
        "acceleration": [
            -0.6191205978393555,
            3.4316062927246094,
            -0.0007314607501029968
        ],
        "angular_velocity": [
            -0.39925050735473633,
            -0.05806639790534973,
            0.16431982815265656
        ],
        "forward_vector": [
            -0.14626120030879974,
            0.989183783531189,
            0.011099228635430336
        ],
        "right_vector": [
            -0.9892435669898987,
            -0.14627677202224731,
            0.000601836945861578
        ],
        "location": [
            930.7665405273438,
            3567.08544921875,
            370.8740539550781
        ],
        "rotation": [
            -0.03448484465479851,
            0.6359520554542542,
            98.41084289550781
        ],
        "velocity": [
            -0.857223629951477,
            5.604856967926025,
            0.005685148295015097
        ],
        "speed": 5.670031215315848,
        "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": 18.891733169555664,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                927.3812866210938,
                3585.67138671875,
                370.8975830078125
            ],
            "velocity": [
                -1.2800134420394897,
                7.935824394226074,
                0.007135476917028427
            ],
            "speed_kmh": 28.938221992565964,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0937187671661377,
                "transform": {
                    "location": {
                        "x": 893.9185791015625,
                        "y": 3574.4775390625,
                        "z": 371.2077941894531
                    },
                    "rotation": {
                        "roll": -0.0013732911320403218,
                        "pitch": -0.3968817889690399,
                        "yaw": 9.306309700012207
                    }
                },
                "velocity": {
                    "x": 2.066455125808716,
                    "y": 0.3364703953266144,
                    "z": -0.014459419064223766
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00010765487968456,
                "transform": {
                    "location": {
                        "x": 929.654052734375,
                        "y": 3613.43310546875,
                        "z": 370.88104248046875
                    },
                    "rotation": {
                        "roll": 0.00032156085944734514,
                        "pitch": 0.03351573646068573,
                        "yaw": -80.38180541992188
                    }
                },
                "velocity": {
                    "x": 5.0942169764311984e-05,
                    "y": 2.0589404812199064e-05,
                    "z": -9.257724013878033e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00043056238791905344,
                "transform": {
                    "location": {
                        "x": 905.29638671875,
                        "y": 3576.319091796875,
                        "z": 371.1188049316406
                    },
                    "rotation": {
                        "roll": -0.00036621338222175837,
                        "pitch": -0.448149174451828,
                        "yaw": 9.10251235961914
                    }
                },
                "velocity": {
                    "x": -0.00014720283797942102,
                    "y": -2.629107802931685e-05,
                    "z": -0.0004037623875774443
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002745456586126238,
                "transform": {
                    "location": {
                        "x": 962.7286987304688,
                        "y": 3582.607421875,
                        "z": 370.60009765625
                    },
                    "rotation": {
                        "roll": 0.001596554764546454,
                        "pitch": 0.6020333170890808,
                        "yaw": -170.5951385498047
                    }
                },
                "velocity": {
                    "x": 2.779424175969325e-05,
                    "y": -8.120201528072357e-06,
                    "z": 0.0002730144187808037
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.672670364379883,
                "transform": {
                    "location": {
                        "x": 941.0310668945312,
                        "y": 3501.14306640625,
                        "z": 370.7484436035156
                    },
                    "rotation": {
                        "roll": -0.00210571032948792,
                        "pitch": 0.18803510069847107,
                        "yaw": 99.60407257080078
                    }
                },
                "velocity": {
                    "x": -1.2705425024032593,
                    "y": 7.5667033195495605,
                    "z": 0.024394111707806587
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00046878945431672037,
                "transform": {
                    "location": {
                        "x": 934.3120727539062,
                        "y": 3605.1142578125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0008066612062975764,
                        "pitch": 0.03830369934439659,
                        "yaw": -80.65274810791016
                    }
                },
                "velocity": {
                    "x": 2.7088174192613224e-06,
                    "y": 4.216115939925658e-06,
                    "z": -0.00046876267879270017
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.817471487214789e-05,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.252197265625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -0.0002746567188296467,
                        "pitch": 0.03897305577993393,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": -5.7466055295662954e-05,
                    "y": -2.9784794605802745e-05,
                    "z": 4.38383940490894e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003205276734661311,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.004863280337303877,
                        "pitch": -0.45894771814346313,
                        "yaw": 8.349459648132324
                    }
                },
                "velocity": {
                    "x": 1.73038242792245e-05,
                    "y": -2.254117134725675e-06,
                    "z": 0.00032005232060328126
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.057405471801758,
                "transform": {
                    "location": {
                        "x": 938.3819580078125,
                        "y": 3517.308349609375,
                        "z": 370.7957458496094
                    },
                    "rotation": {
                        "roll": -0.0004882870125584304,
                        "pitch": 0.15959419310092926,
                        "yaw": 99.1403579711914
                    }
                },
                "velocity": {
                    "x": -1.2799208164215088,
                    "y": 7.955069541931152,
                    "z": 0.02132239378988743
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.946992874145508,
                "transform": {
                    "location": {
                        "x": 923.9390258789062,
                        "y": 3627.89892578125,
                        "z": 370.8773498535156
                    },
                    "rotation": {
                        "roll": 5.0179267418570817e-05,
                        "pitch": 0.08892905712127686,
                        "yaw": 99.50102233886719
                    }
                },
                "velocity": {
                    "x": -1.003059983253479,
                    "y": 5.861788749694824,
                    "z": -0.005260267294943333
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86287,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2463425397872925,
                "transform": {
                    "location": {
                        "x": 927.183837890625,
                        "y": 3628.4375,
                        "z": 370.87103271484375
                    },
                    "rotation": {
                        "roll": -0.009216312319040298,
                        "pitch": 0.23857849836349487,
                        "yaw": -80.80221557617188
                    }
                },
                "velocity": {
                    "x": 0.2141961008310318,
                    "y": -1.226469874382019,
                    "z": 0.05710922181606293
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0007714686798863113,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.0002746567188296467,
                        "pitch": -0.03948532044887543,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.8393376851454377e-05,
                    "y": -8.324323971464764e-06,
                    "z": -0.0007709010387770832
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.06197987496852875,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.85772705078125
                    },
                    "rotation": {
                        "roll": 7.127844583010301e-05,
                        "pitch": -0.04589886963367462,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": 3.9018905226839706e-05,
                    "y": 4.761062518809922e-05,
                    "z": 0.06197984516620636
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9952342510223389,
                "transform": {
                    "location": {
                        "x": 973.171630859375,
                        "y": 3584.322021484375,
                        "z": 370.48046875
                    },
                    "rotation": {
                        "roll": -0.001068111858330667,
                        "pitch": 0.8630011677742004,
                        "yaw": -170.5581817626953
                    }
                },
                "velocity": {
                    "x": -1.9686698913574219,
                    "y": -0.3236254155635834,
                    "z": 0.023771390318870544
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9661200046539307,
                "transform": {
                    "location": {
                        "x": 939.4775390625,
                        "y": 3530.99365234375,
                        "z": 370.8276062011719
                    },
                    "rotation": {
                        "roll": -0.0048217796720564365,
                        "pitch": 0.381650447845459,
                        "yaw": 101.0589599609375
                    }
                },
                "velocity": {
                    "x": -0.3118765950202942,
                    "y": 1.9412189722061157,
                    "z": 0.0054841423407197
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7258963584899902,
                "transform": {
                    "location": {
                        "x": 937.0817260742188,
                        "y": 3545.845947265625,
                        "z": 370.8543395996094
                    },
                    "rotation": {
                        "roll": 0.0014651534147560596,
                        "pitch": 0.14391890168190002,
                        "yaw": 99.18326568603516
                    }
                },
                "velocity": {
                    "x": -0.2752118706703186,
                    "y": 1.7038111686706543,
                    "z": 0.002025432651862502
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0007185061112977564,
                "transform": {
                    "location": {
                        "x": 932.6527099609375,
                        "y": 3615.25,
                        "z": 370.8830871582031
                    },
                    "rotation": {
                        "roll": 0.0001440151099814102,
                        "pitch": -0.026917774230241776,
                        "yaw": -80.4298324584961
                    }
                },
                "velocity": {
                    "x": 1.545008854009211e-05,
                    "y": 0.0006007005576975644,
                    "z": 0.00039391766767948866
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.038394927978516,
                "transform": {
                    "location": {
                        "x": 927.3812866210938,
                        "y": 3585.67138671875,
                        "z": 370.8975830078125
                    },
                    "rotation": {
                        "roll": 0.00684648472815752,
                        "pitch": 0.14108437299728394,
                        "yaw": 99.1772689819336
                    }
                },
                "velocity": {
                    "x": -1.2800134420394897,
                    "y": 7.935824394226074,
                    "z": 0.007135476917028427
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031839370727539,
                "transform": {
                    "location": {
                        "x": 894.982666015625,
                        "y": 3571.92578125,
                        "z": 371.1957092285156
                    },
                    "rotation": {
                        "roll": 0.0017706317594274879,
                        "pitch": 0.39486005902290344,
                        "yaw": -170.84022521972656
                    }
                },
                "velocity": {
                    "x": -7.929243087768555,
                    "y": -1.2785069942474365,
                    "z": 0.054447878152132034
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.4825758934021,
                "transform": {
                    "location": {
                        "x": 942.0365600585938,
                        "y": 3515.04833984375,
                        "z": 370.78277587890625
                    },
                    "rotation": {
                        "roll": -0.0004882823559455574,
                        "pitch": 0.08685267716646194,
                        "yaw": 99.13887786865234
                    }
                },
                "velocity": {
                    "x": -1.1886204481124878,
                    "y": 7.387533187866211,
                    "z": 0.021926794201135635
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.382798194885254,
                "transform": {
                    "location": {
                        "x": 934.7054443359375,
                        "y": 3560.54931640625,
                        "z": 370.8731994628906
                    },
                    "rotation": {
                        "roll": 0.004636901896446943,
                        "pitch": 0.10241185128688812,
                        "yaw": 99.16730499267578
                    }
                },
                "velocity": {
                    "x": -0.8534311652183533,
                    "y": 5.314708709716797,
                    "z": 0.006407642271369696
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.021719932556152,
                "transform": {
                    "location": {
                        "x": 938.0355224609375,
                        "y": 3579.920654296875,
                        "z": 370.8543701171875
                    },
                    "rotation": {
                        "roll": -0.8072203993797302,
                        "pitch": -0.3353895843029022,
                        "yaw": 37.92876052856445
                    }
                },
                "velocity": {
                    "x": 6.833300590515137,
                    "y": 4.2010111808776855,
                    "z": -0.07414669543504715
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050140380859375,
                "transform": {
                    "location": {
                        "x": 927.9033203125,
                        "y": 3602.87060546875,
                        "z": 370.8941345214844
                    },
                    "rotation": {
                        "roll": 8.269432873930782e-05,
                        "pitch": -0.03900037705898285,
                        "yaw": 99.13764190673828
                    }
                },
                "velocity": {
                    "x": -1.2787026166915894,
                    "y": 7.947933197021484,
                    "z": -0.005443067289888859
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.31946438550949097,
        "expert_target_speed": 6.5478631365749465,
        "target_point": [
            21.05313657776313,
            0.5594355114324396
        ],
        "target_point_next": [
            39.05158101239915,
            0.7893109894018266
        ]
    },
    "725": {
        "acceleration": [
            -1.495751142501831,
            9.971351623535156,
            0.004113577306270599
        ],
        "angular_velocity": [
            2.1554017066955566,
            0.23458422720432281,
            0.0005687599768862128
        ],
        "forward_vector": [
            -0.15017186105251312,
            0.9886003732681274,
            0.010849501006305218
        ],
        "right_vector": [
            -0.9886582493782043,
            -0.1501825600862503,
            0.00017362786456942558
        ],
        "location": [
            930.5438232421875,
            3568.5546875,
            370.87548828125
        ],
        "rotation": [
            -0.009948729537427425,
            0.6216428279876709,
            98.63739776611328
        ],
        "velocity": [
            -1.0409009456634521,
            6.86760139465332,
            0.005985126364976168
        ],
        "speed": 6.946036545723561,
        "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": 19.41006088256836,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                927.0620727539062,
                3587.64990234375,
                370.901123046875
            ],
            "velocity": [
                -1.2737396955490112,
                7.903534889221191,
                0.008100023493170738
            ],
            "speed_kmh": 28.819870133143336,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8368295431137085,
                "transform": {
                    "location": {
                        "x": 894.4349975585938,
                        "y": 3574.561767578125,
                        "z": 371.20416259765625
                    },
                    "rotation": {
                        "roll": -0.0004882821231149137,
                        "pitch": -0.37286001443862915,
                        "yaw": 9.294946670532227
                    }
                },
                "velocity": {
                    "x": 1.8128668069839478,
                    "y": 0.2954610586166382,
                    "z": -0.012623033486306667
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.685206608381122e-05,
                "transform": {
                    "location": {
                        "x": 929.654052734375,
                        "y": 3613.43310546875,
                        "z": 370.8810119628906
                    },
                    "rotation": {
                        "roll": 0.0014109929325059056,
                        "pitch": 0.03824905678629875,
                        "yaw": -80.38180541992188
                    }
                },
                "velocity": {
                    "x": 3.254535113228485e-05,
                    "y": 4.221172730467515e-06,
                    "z": -5.824242907692678e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0010425460059195757,
                "transform": {
                    "location": {
                        "x": 905.2965698242188,
                        "y": 3576.319091796875,
                        "z": 371.1187744140625
                    },
                    "rotation": {
                        "roll": 0.00010735850082710385,
                        "pitch": -0.43838199973106384,
                        "yaw": 9.102489471435547
                    }
                },
                "velocity": {
                    "x": -5.2892712119501084e-05,
                    "y": -8.708518180355895e-06,
                    "z": -0.0010411669500172138
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.01715904287993908,
                "transform": {
                    "location": {
                        "x": 962.7274780273438,
                        "y": 3582.607421875,
                        "z": 370.60009765625
                    },
                    "rotation": {
                        "roll": 0.0018048379570245743,
                        "pitch": 0.60532546043396,
                        "yaw": -170.5955810546875
                    }
                },
                "velocity": {
                    "x": 0.016917414963245392,
                    "y": 0.0028688982129096985,
                    "z": -5.7353972806595266e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.722428798675537,
                "transform": {
                    "location": {
                        "x": 940.7180786132812,
                        "y": 3503.0048828125,
                        "z": 370.7536926269531
                    },
                    "rotation": {
                        "roll": -0.0002136320254066959,
                        "pitch": 0.23927517235279083,
                        "yaw": 99.54448699951172
                    }
                },
                "velocity": {
                    "x": -1.112050175666809,
                    "y": 6.629781246185303,
                    "z": 0.019867734983563423
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002956636599265039,
                "transform": {
                    "location": {
                        "x": 934.3120727539062,
                        "y": 3605.1142578125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0008066612062975764,
                        "pitch": 0.03830369934439659,
                        "yaw": -80.65274810791016
                    }
                },
                "velocity": {
                    "x": 9.115071406995412e-06,
                    "y": 3.7257605072227307e-06,
                    "z": -0.00029549963073804975
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002058578102150932,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.252197265625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -0.0004882835783064365,
                        "pitch": 0.03873400017619133,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": -7.912445289548486e-05,
                    "y": -3.0551971576642245e-05,
                    "z": -0.0001875722227850929
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.587933603441343e-05,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.004863280337303877,
                        "pitch": -0.45894771814346313,
                        "yaw": 8.349459648132324
                    }
                },
                "velocity": {
                    "x": 1.6327052435372025e-05,
                    "y": -4.989057742932346e-06,
                    "z": 6.362879503285512e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.087051391601562,
                "transform": {
                    "location": {
                        "x": 938.061279296875,
                        "y": 3519.30078125,
                        "z": 370.80133056640625
                    },
                    "rotation": {
                        "roll": -0.0002136243274435401,
                        "pitch": 0.15963517129421234,
                        "yaw": 99.140625
                    }
                },
                "velocity": {
                    "x": -1.2846533060073853,
                    "y": 7.984334468841553,
                    "z": 0.02162403054535389
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.666711330413818,
                "transform": {
                    "location": {
                        "x": 923.6649169921875,
                        "y": 3629.530029296875,
                        "z": 370.8762512207031
                    },
                    "rotation": {
                        "roll": 0.005828709341585636,
                        "pitch": 0.22241826355457306,
                        "yaw": 99.51409912109375
                    }
                },
                "velocity": {
                    "x": -1.267115831375122,
                    "y": 7.561272621154785,
                    "z": -0.006327467039227486
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86287,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.65556263923645,
                "transform": {
                    "location": {
                        "x": 927.2669067382812,
                        "y": 3627.951416015625,
                        "z": 370.8778076171875
                    },
                    "rotation": {
                        "roll": -0.0015869226772338152,
                        "pitch": 0.3180340826511383,
                        "yaw": -80.63399505615234
                    }
                },
                "velocity": {
                    "x": 0.442125529050827,
                    "y": -2.618476152420044,
                    "z": 0.010986766777932644
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00019769556820392609,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": -0.03906184807419777,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 2.986830054396705e-07,
                    "y": -1.9658821770462964e-07,
                    "z": -0.00019769524806179106
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86261,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.05402872711420059,
                "transform": {
                    "location": {
                        "x": 919.753173828125,
                        "y": 3633.68896484375,
                        "z": 370.8765869140625
                    },
                    "rotation": {
                        "roll": 0.00010369517258368433,
                        "pitch": -0.04596034064888954,
                        "yaw": 99.1425552368164
                    }
                },
                "velocity": {
                    "x": 2.5264957002946176e-05,
                    "y": 4.0898685256252065e-05,
                    "z": 0.0540287047624588
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5079110264778137,
                "transform": {
                    "location": {
                        "x": 972.7721557617188,
                        "y": 3584.25732421875,
                        "z": 370.4866638183594
                    },
                    "rotation": {
                        "roll": 0.0027348233852535486,
                        "pitch": 0.4644869863986969,
                        "yaw": -170.36026000976562
                    }
                },
                "velocity": {
                    "x": -0.5022954940795898,
                    "y": -0.07502242922782898,
                    "z": 0.006666507571935654
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.824320077896118,
                "transform": {
                    "location": {
                        "x": 939.378173828125,
                        "y": 3531.5859375,
                        "z": 370.8314514160156
                    },
                    "rotation": {
                        "roll": -0.0040893638506531715,
                        "pitch": 0.0889836996793747,
                        "yaw": 100.57720947265625
                    }
                },
                "velocity": {
                    "x": -0.4490688145160675,
                    "y": 2.7883834838867188,
                    "z": 0.006136198062449694
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.8932316303253174,
                "transform": {
                    "location": {
                        "x": 936.9901123046875,
                        "y": 3546.416259765625,
                        "z": 370.8553466796875
                    },
                    "rotation": {
                        "roll": 0.0018247440457344055,
                        "pitch": 0.24297714233398438,
                        "yaw": 99.12053680419922
                    }
                },
                "velocity": {
                    "x": -0.458713173866272,
                    "y": 2.8566343784332275,
                    "z": 0.0034043597988784313
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0007860571495257318,
                "transform": {
                    "location": {
                        "x": 932.6527709960938,
                        "y": 3615.24951171875,
                        "z": 370.8829345703125
                    },
                    "rotation": {
                        "roll": -6.103565101511776e-05,
                        "pitch": 0.014828340150415897,
                        "yaw": -80.42985534667969
                    }
                },
                "velocity": {
                    "x": -2.7272131774225272e-05,
                    "y": 0.0004037223698105663,
                    "z": 0.0006739067612215877
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.00551986694336,
                "transform": {
                    "location": {
                        "x": 927.0620727539062,
                        "y": 3587.64990234375,
                        "z": 370.901123046875
                    },
                    "rotation": {
                        "roll": 0.0008769257692620158,
                        "pitch": 0.0415412075817585,
                        "yaw": 99.16746520996094
                    }
                },
                "velocity": {
                    "x": -1.2737396955490112,
                    "y": 7.903534889221191,
                    "z": 0.008100023493170738
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017215728759766,
                "transform": {
                    "location": {
                        "x": 893.0023803710938,
                        "y": 3571.6064453125,
                        "z": 371.2091064453125
                    },
                    "rotation": {
                        "roll": 0.0013517554616555572,
                        "pitch": 0.3930705487728119,
                        "yaw": -170.84400939941406
                    }
                },
                "velocity": {
                    "x": -7.914913654327393,
                    "y": -1.2756023406982422,
                    "z": 0.0521552637219429
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.812060832977295,
                "transform": {
                    "location": {
                        "x": 941.7667236328125,
                        "y": 3516.7255859375,
                        "z": 370.7872619628906
                    },
                    "rotation": {
                        "roll": -0.00012206634710310027,
                        "pitch": -0.057701434940099716,
                        "yaw": 99.13557434082031
                    }
                },
                "velocity": {
                    "x": -0.9222736954689026,
                    "y": 5.738394737243652,
                    "z": 0.016981886699795723
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.175394535064697,
                "transform": {
                    "location": {
                        "x": 934.4961547851562,
                        "y": 3561.855224609375,
                        "z": 370.8742980957031
                    },
                    "rotation": {
                        "roll": 0.0026320696342736483,
                        "pitch": 0.03841981291770935,
                        "yaw": 99.11294555664062
                    }
                },
                "velocity": {
                    "x": -0.8180617094039917,
                    "y": 5.110328674316406,
                    "z": 0.0048682307824492455
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.062481880187988,
                "transform": {
                    "location": {
                        "x": 939.770751953125,
                        "y": 3580.920166015625,
                        "z": 370.8353576660156
                    },
                    "rotation": {
                        "roll": -0.4146727919578552,
                        "pitch": -0.5667417645454407,
                        "yaw": 30.175811767578125
                    }
                },
                "velocity": {
                    "x": 7.263947010040283,
                    "y": 3.4979195594787598,
                    "z": -0.056982483714818954
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05097770690918,
                "transform": {
                    "location": {
                        "x": 927.5836791992188,
                        "y": 3604.858154296875,
                        "z": 370.89276123046875
                    },
                    "rotation": {
                        "roll": 0.00024537325953133404,
                        "pitch": -0.03820807486772537,
                        "yaw": 99.1407699584961
                    }
                },
                "velocity": {
                    "x": -1.2787325382232666,
                    "y": 7.948777198791504,
                    "z": -0.0051596928387880325
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.29597973823547363,
        "expert_target_speed": 7.635609298303698,
        "target_point": [
            19.56916124081078,
            0.4766441002828046
        ],
        "target_point_next": [
            37.568373933336396,
            0.635349019162085
        ]
    },
    "730": {
        "acceleration": [
            -1.1085247993469238,
            7.138042449951172,
            0.24587172269821167
        ],
        "angular_velocity": [
            0.9990721940994263,
            -1.1870810985565186,
            -0.17513614892959595
        ],
        "forward_vector": [
            -0.14952442049980164,
            0.9886678457260132,
            0.013355812057852745
        ],
        "right_vector": [
            -0.9887570738792419,
            -0.1495295912027359,
            -0.0006164107471704483
        ],
        "location": [
            930.2537231445312,
            3570.474365234375,
            370.876953125
        ],
        "rotation": [
            0.035320885479450226,
            0.7652543783187866,
            98.60014343261719
        ],
        "velocity": [
            -1.2742794752120972,
            8.425315856933594,
            0.019112052395939827
        ],
        "speed": 8.521134635131842,
        "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": 19.479320526123047,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                926.7420654296875,
                3589.634521484375,
                370.9024658203125
            ],
            "velocity": [
                -1.2813738584518433,
                7.962718963623047,
                0.0020044706761837006
            ],
            "speed_kmh": 29.03457833249218,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1100573539733887,
                "transform": {
                    "location": {
                        "x": 894.8948364257812,
                        "y": 3574.63623046875,
                        "z": 371.2010498046875
                    },
                    "rotation": {
                        "roll": -0.001373287639580667,
                        "pitch": -0.3959597051143646,
                        "yaw": 9.275779724121094
                    }
                },
                "velocity": {
                    "x": 2.082925796508789,
                    "y": 0.33699923753738403,
                    "z": -0.013941153883934021
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00011903408449143171,
                "transform": {
                    "location": {
                        "x": 929.654052734375,
                        "y": 3613.43310546875,
                        "z": 370.8810119628906
                    },
                    "rotation": {
                        "roll": 0.00027069798670709133,
                        "pitch": 0.03889109566807747,
                        "yaw": -80.38180541992188
                    }
                },
                "velocity": {
                    "x": 1.5941586752887815e-05,
                    "y": 2.3925072127894964e-06,
                    "z": 0.0001179375103674829
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00031180831138044596,
                "transform": {
                    "location": {
                        "x": 905.2965698242188,
                        "y": 3576.319091796875,
                        "z": 371.1187744140625
                    },
                    "rotation": {
                        "roll": 0.0009712456376291811,
                        "pitch": -0.4362168312072754,
                        "yaw": 9.102474212646484
                    }
                },
                "velocity": {
                    "x": -1.5561281543341465e-05,
                    "y": -8.491514017805457e-05,
                    "z": -0.00029961924883536994
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.4416503310203552,
                "transform": {
                    "location": {
                        "x": 962.6838989257812,
                        "y": 3582.600341796875,
                        "z": 370.6006164550781
                    },
                    "rotation": {
                        "roll": 0.0017029227456077933,
                        "pitch": 0.6647208333015442,
                        "yaw": -170.59677124023438
                    }
                },
                "velocity": {
                    "x": -0.4357536733150482,
                    "y": -0.07182867079973221,
                    "z": 0.0037929534446448088
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.013625144958496,
                "transform": {
                    "location": {
                        "x": 940.466064453125,
                        "y": 3504.521728515625,
                        "z": 370.7582092285156
                    },
                    "rotation": {
                        "roll": -0.0030212257988750935,
                        "pitch": 0.24640588462352753,
                        "yaw": 99.47565460205078
                    }
                },
                "velocity": {
                    "x": -0.9765275120735168,
                    "y": 5.933781623840332,
                    "z": 0.017808303236961365
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00047041111974976957,
                "transform": {
                    "location": {
                        "x": 934.3120727539062,
                        "y": 3605.1142578125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0008833707543089986,
                        "pitch": 0.03919162228703499,
                        "yaw": -80.65274810791016
                    }
                },
                "velocity": {
                    "x": 4.249447738402523e-05,
                    "y": -4.857294243265642e-06,
                    "z": -0.0004684626474045217
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.400909089483321e-05,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.252197265625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": 1.0033510079665575e-05,
                        "pitch": 0.03885011374950409,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": -4.1494877223158255e-05,
                    "y": 1.6126361515489407e-05,
                    "z": 5.912242704653181e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00040958673343993723,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.004863280337303877,
                        "pitch": -0.45894771814346313,
                        "yaw": 8.349459648132324
                    }
                },
                "velocity": {
                    "x": 1.7629712601774372e-05,
                    "y": 1.0276678494847147e-06,
                    "z": 0.00040920585161074996
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.056367874145508,
                "transform": {
                    "location": {
                        "x": 937.7407836914062,
                        "y": 3521.29296875,
                        "z": 370.8067626953125
                    },
                    "rotation": {
                        "roll": -0.000152592605445534,
                        "pitch": 0.15820083022117615,
                        "yaw": 99.14067840576172
                    }
                },
                "velocity": {
                    "x": -1.2798069715499878,
                    "y": 7.954037189483643,
                    "z": 0.02116975747048855
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.312546730041504,
                "transform": {
                    "location": {
                        "x": 923.3296508789062,
                        "y": 3631.530517578125,
                        "z": 370.874755859375
                    },
                    "rotation": {
                        "roll": 0.0009757716325111687,
                        "pitch": 0.11066272109746933,
                        "yaw": 99.51559448242188
                    }
                },
                "velocity": {
                    "x": -1.3740193843841553,
                    "y": 8.198198318481445,
                    "z": -0.006195564288645983
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86287,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.236403942108154,
                "transform": {
                    "location": {
                        "x": 927.4126586914062,
                        "y": 3627.091552734375,
                        "z": 370.8793640136719
                    },
                    "rotation": {
                        "roll": -0.004760761745274067,
                        "pitch": 0.35887178778648376,
                        "yaw": -80.5142822265625
                    }
                },
                "velocity": {
                    "x": 0.7088813781738281,
                    "y": -4.176670551300049,
                    "z": 0.005413484293967485
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0010663570137694478,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": -0.03906184807419777,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": 4.214176442474127e-06,
                    "y": -4.330719548306661e-06,
                    "z": -0.0010663399007171392
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.004324466921389103,
                "transform": {
                    "location": {
                        "x": 972.770263671875,
                        "y": 3584.257080078125,
                        "z": 370.4873046875
                    },
                    "rotation": {
                        "roll": -0.0013122532982379198,
                        "pitch": 0.3021675646305084,
                        "yaw": -170.3209991455078
                    }
                },
                "velocity": {
                    "x": 0.004275352228432894,
                    "y": 0.0006357391830533743,
                    "z": 0.00013495166786015034
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8956990242004395,
                "transform": {
                    "location": {
                        "x": 939.2406616210938,
                        "y": 3532.41552734375,
                        "z": 370.8337707519531
                    },
                    "rotation": {
                        "roll": -0.0037536618765443563,
                        "pitch": 0.026897283270955086,
                        "yaw": 100.08892822265625
                    }
                },
                "velocity": {
                    "x": -0.6173772811889648,
                    "y": 3.846461296081543,
                    "z": 0.007214345969259739
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.407191276550293,
                "transform": {
                    "location": {
                        "x": 936.8436279296875,
                        "y": 3547.327392578125,
                        "z": 370.85693359375
                    },
                    "rotation": {
                        "roll": 0.0007363506592810154,
                        "pitch": 0.31246066093444824,
                        "yaw": 99.12623596191406
                    }
                },
                "velocity": {
                    "x": -0.6989995241165161,
                    "y": 4.3514018058776855,
                    "z": 0.006058025173842907
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.6527709960938,
                        "y": 3615.24951171875,
                        "z": 370.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.019787056371569633,
                        "yaw": -80.42985534667969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065160751342773,
                "transform": {
                    "location": {
                        "x": 926.7420654296875,
                        "y": 3589.634521484375,
                        "z": 370.9024658203125
                    },
                    "rotation": {
                        "roll": -0.00027465829043649137,
                        "pitch": 0.007724943570792675,
                        "yaw": 99.1595458984375
                    }
                },
                "velocity": {
                    "x": -1.2813738584518433,
                    "y": 7.962718963623047,
                    "z": 0.0020044706761837006
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033136367797852,
                "transform": {
                    "location": {
                        "x": 891.0215454101562,
                        "y": 3571.287353515625,
                        "z": 371.2222595214844
                    },
                    "rotation": {
                        "roll": 0.0017371608410030603,
                        "pitch": 0.38046202063560486,
                        "yaw": -170.84849548339844
                    }
                },
                "velocity": {
                    "x": -7.930719375610352,
                    "y": -1.2775553464889526,
                    "z": 0.05316172540187836
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.666659355163574,
                "transform": {
                    "location": {
                        "x": 941.60498046875,
                        "y": 3517.745849609375,
                        "z": 370.78948974609375
                    },
                    "rotation": {
                        "roll": 0.019950155168771744,
                        "pitch": -0.265414297580719,
                        "yaw": 100.01747131347656
                    }
                },
                "velocity": {
                    "x": -0.40516912937164307,
                    "y": 2.635687828063965,
                    "z": 0.007720145862549543
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.292740345001221,
                "transform": {
                    "location": {
                        "x": 934.2941284179688,
                        "y": 3563.11865234375,
                        "z": 370.8754577636719
                    },
                    "rotation": {
                        "roll": 0.0015668057603761554,
                        "pitch": 0.06866388767957687,
                        "yaw": 99.08450317382812
                    }
                },
                "velocity": {
                    "x": -0.8352741599082947,
                    "y": 5.226412773132324,
                    "z": 0.005272016394883394
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.992464065551758,
                "transform": {
                    "location": {
                        "x": 941.6028442382812,
                        "y": 3581.717041015625,
                        "z": 370.8160705566406
                    },
                    "rotation": {
                        "roll": -0.3450317680835724,
                        "pitch": -0.4803466796875,
                        "yaw": 23.529415130615234
                    }
                },
                "velocity": {
                    "x": 7.564440727233887,
                    "y": 2.5793874263763428,
                    "z": -0.07398339360952377
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050192832946777,
                "transform": {
                    "location": {
                        "x": 927.2639770507812,
                        "y": 3606.84521484375,
                        "z": 370.8913879394531
                    },
                    "rotation": {
                        "roll": -0.00018310779705643654,
                        "pitch": -0.037839245051145554,
                        "yaw": 99.13782501220703
                    }
                },
                "velocity": {
                    "x": -1.278626799583435,
                    "y": 7.947999477386475,
                    "z": -0.00549563392996788
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.2718833386898041,
        "expert_target_speed": 8.81579140854561,
        "target_point": [
            17.627373263011346,
            0.48959852006223015
        ],
        "target_point_next": [
            35.62647892584755,
            0.6600101983866216
        ]
    },
    "735": {
        "acceleration": [
            -1.3667654991149902,
            9.45901870727539,
            0.06809413433074951
        ],
        "angular_velocity": [
            3.4750776290893555,
            0.7222920656204224,
            -0.15180380642414093
        ],
        "forward_vector": [
            -0.1489449441432953,
            0.9886596202850342,
            0.019169706851243973
        ],
        "right_vector": [
            -0.9888451099395752,
            -0.14893339574337006,
            -0.0020364224910736084
        ],
        "location": [
            929.9181518554688,
            3572.69921875,
            370.88861083984375
        ],
        "rotation": [
            0.1166999414563179,
            1.0984104871749878,
            98.56737518310547
        ],
        "velocity": [
            -1.4578585624694824,
            9.694708824157715,
            0.06760694086551666
        ],
        "speed": 9.80371005147373,
        "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": 19.237201690673828,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                926.4228515625,
                3591.6162109375,
                370.9026794433594
            ],
            "velocity": [
                -1.2722458839416504,
                7.895721435546875,
                0.0018183898646384478
            ],
            "speed_kmh": 28.791230388613013,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8214781284332275,
                "transform": {
                    "location": {
                        "x": 895.4144287109375,
                        "y": 3574.720458984375,
                        "z": 371.19744873046875
                    },
                    "rotation": {
                        "roll": -0.00012206884275656193,
                        "pitch": -0.3714871406555176,
                        "yaw": 9.258636474609375
                    }
                },
                "velocity": {
                    "x": 1.7980178594589233,
                    "y": 0.29110097885131836,
                    "z": -0.013207492418587208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7598806152818725e-05,
                "transform": {
                    "location": {
                        "x": 929.654052734375,
                        "y": 3613.43310546875,
                        "z": 370.8810119628906
                    },
                    "rotation": {
                        "roll": 0.00048172351671382785,
                        "pitch": 0.03902086988091469,
                        "yaw": -80.38180541992188
                    }
                },
                "velocity": {
                    "x": -1.4716216355736833e-05,
                    "y": -1.8581049516797066e-06,
                    "z": -9.470924851484597e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.04474029317498207,
                "transform": {
                    "location": {
                        "x": 905.2955322265625,
                        "y": 3576.318603515625,
                        "z": 371.1187744140625
                    },
                    "rotation": {
                        "roll": -0.0006408659392036498,
                        "pitch": -0.4388396441936493,
                        "yaw": 9.089494705200195
                    }
                },
                "velocity": {
                    "x": -0.04426736384630203,
                    "y": -0.006445219274610281,
                    "z": 0.0007438564207404852
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.50757896900177,
                "transform": {
                    "location": {
                        "x": 962.4418334960938,
                        "y": 3582.560546875,
                        "z": 370.6031494140625
                    },
                    "rotation": {
                        "roll": 0.0031733594369143248,
                        "pitch": 0.7830196619033813,
                        "yaw": -170.593017578125
                    }
                },
                "velocity": {
                    "x": -1.4876984357833862,
                    "y": -0.24360330402851105,
                    "z": 0.014324292540550232
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.534221649169922,
                "transform": {
                    "location": {
                        "x": 940.2135620117188,
                        "y": 3506.054931640625,
                        "z": 370.76361083984375
                    },
                    "rotation": {
                        "roll": -0.0007934580207802355,
                        "pitch": 0.13401512801647186,
                        "yaw": 99.35391235351562
                    }
                },
                "velocity": {
                    "x": -1.055931806564331,
                    "y": 6.448311805725098,
                    "z": 0.01831720396876335
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0004343685577623546,
                "transform": {
                    "location": {
                        "x": 934.3120727539062,
                        "y": 3605.1142578125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0015284852124750614,
                        "pitch": 0.03927358612418175,
                        "yaw": -80.65274810791016
                    }
                },
                "velocity": {
                    "x": -1.4144842680252623e-05,
                    "y": -2.8939823550899746e-06,
                    "z": 0.0004341285675764084
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00023744032660033554,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.252197265625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -0.000244140945142135,
                        "pitch": 0.03889792412519455,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": -8.828820136841387e-05,
                    "y": 3.0088824132690206e-05,
                    "z": -0.00021835239022038877
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003484438930172473,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.004817548673599958,
                        "pitch": -0.4591048061847687,
                        "yaw": 8.34937858581543
                    }
                },
                "velocity": {
                    "x": 1.2884437637694646e-05,
                    "y": 1.3956064321973827e-05,
                    "z": -0.000347925815731287
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.08713150024414,
                "transform": {
                    "location": {
                        "x": 937.4201049804688,
                        "y": 3523.28515625,
                        "z": 370.81207275390625
                    },
                    "rotation": {
                        "roll": -0.0006713885231874883,
                        "pitch": 0.1499636322259903,
                        "yaw": 99.14363098144531
                    }
                },
                "velocity": {
                    "x": -1.2851749658584595,
                    "y": 7.984332084655762,
                    "z": 0.021680040284991264
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.951632022857666,
                "transform": {
                    "location": {
                        "x": 922.994384765625,
                        "y": 3633.534912109375,
                        "z": 370.8730773925781
                    },
                    "rotation": {
                        "roll": 0.005328338127583265,
                        "pitch": -0.049894530326128006,
                        "yaw": 99.48522186279297
                    }
                },
                "velocity": {
                    "x": -1.303202509880066,
                    "y": 7.84411096572876,
                    "z": -0.006135187111794949
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86287,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.103169918060303,
                "transform": {
                    "location": {
                        "x": 927.6184692382812,
                        "y": 3625.881591796875,
                        "z": 370.8806457519531
                    },
                    "rotation": {
                        "roll": -0.005584730766713619,
                        "pitch": 0.274826318025589,
                        "yaw": -80.33525085449219
                    }
                },
                "velocity": {
                    "x": 0.8576298952102661,
                    "y": -5.030586242675781,
                    "z": 0.004362525884062052
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0004990834277123213,
                "transform": {
                    "location": {
                        "x": 921.4090576171875,
                        "y": 3623.3994140625,
                        "z": 370.8763732910156
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": -0.03906184807419777,
                        "yaw": 99.14252471923828
                    }
                },
                "velocity": {
                    "x": -2.561843075454817e-06,
                    "y": 1.0604225053612026e-06,
                    "z": -0.0004990757443010807
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86289,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 880.44921875,
                        "y": 3572.22021484375,
                        "z": 371.6766357421875
                    },
                    "rotation": {
                        "roll": -3.3351124084646244e-09,
                        "pitch": -0.3413386940956116,
                        "yaw": 9.140239715576172
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0020012937020510435,
                "transform": {
                    "location": {
                        "x": 972.7687377929688,
                        "y": 3584.2568359375,
                        "z": 370.4864501953125
                    },
                    "rotation": {
                        "roll": 0.0032615074887871742,
                        "pitch": 0.5477879643440247,
                        "yaw": -170.32102966308594
                    }
                },
                "velocity": {
                    "x": 0.0019515766762197018,
                    "y": 0.0003767400048673153,
                    "z": 0.00023364883963949978
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.993009090423584,
                "transform": {
                    "location": {
                        "x": 939.0601196289062,
                        "y": 3533.51904296875,
                        "z": 370.83636474609375
                    },
                    "rotation": {
                        "roll": -0.0036010739859193563,
                        "pitch": 0.007697622757405043,
                        "yaw": 99.67137145996094
                    }
                },
                "velocity": {
                    "x": -0.7896149158477783,
                    "y": 4.930166244506836,
                    "z": 0.010480060242116451
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.5637946128845215,
                "transform": {
                    "location": {
                        "x": 936.6420288085938,
                        "y": 3548.58154296875,
                        "z": 370.859130859375
                    },
                    "rotation": {
                        "roll": 0.0011336789466440678,
                        "pitch": 0.2888076901435852,
                        "yaw": 99.11183166503906
                    }
                },
                "velocity": {
                    "x": -0.8807210922241211,
                    "y": 5.493637561798096,
                    "z": 0.009460439905524254
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.6527709960938,
                        "y": 3615.24951171875,
                        "z": 370.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.019787056371569633,
                        "yaw": -80.42985534667969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.997564315795898,
                "transform": {
                    "location": {
                        "x": 926.4228515625,
                        "y": 3591.6162109375,
                        "z": 370.9026794433594
                    },
                    "rotation": {
                        "roll": -9.155304724117741e-05,
                        "pitch": 0.0088929058983922,
                        "yaw": 99.15351867675781
                    }
                },
                "velocity": {
                    "x": -1.2722458839416504,
                    "y": 7.895721435546875,
                    "z": 0.0018183898646384478
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01673698425293,
                "transform": {
                    "location": {
                        "x": 889.041015625,
                        "y": 3570.96875,
                        "z": 371.2351989746094
                    },
                    "rotation": {
                        "roll": 0.002283873502165079,
                        "pitch": 0.37624093890190125,
                        "yaw": -170.8562774658203
                    }
                },
                "velocity": {
                    "x": -7.914695739746094,
                    "y": -1.273934245109558,
                    "z": 0.05242091044783592
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.16544508934021,
                "transform": {
                    "location": {
                        "x": 941.5245361328125,
                        "y": 3518.242431640625,
                        "z": 370.7913513183594
                    },
                    "rotation": {
                        "roll": 0.003957368899136782,
                        "pitch": -0.004118603654205799,
                        "yaw": 100.39215850830078
                    }
                },
                "velocity": {
                    "x": -0.3602214753627777,
                    "y": 2.135265827178955,
                    "z": 0.005792007315903902
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.3891682624816895,
                "transform": {
                    "location": {
                        "x": 934.1136474609375,
                        "y": 3564.2431640625,
                        "z": 370.8760986328125
                    },
                    "rotation": {
                        "roll": -0.0017700198804959655,
                        "pitch": -0.037477247416973114,
                        "yaw": 99.27839660644531
                    }
                },
                "velocity": {
                    "x": -0.6993910670280457,
                    "y": 4.3330864906311035,
                    "z": 0.0035304164048284292
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064476013183594,
                "transform": {
                    "location": {
                        "x": 943.5092163085938,
                        "y": 3582.357177734375,
                        "z": 370.7949523925781
                    },
                    "rotation": {
                        "roll": -0.216644287109375,
                        "pitch": -0.6344903707504272,
                        "yaw": 18.744794845581055
                    }
                },
                "velocity": {
                    "x": 7.7974419593811035,
                    "y": 2.0558464527130127,
                    "z": -0.09577551484107971
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050743103027344,
                "transform": {
                    "location": {
                        "x": 926.9442749023438,
                        "y": 3608.83251953125,
                        "z": 370.8900451660156
                    },
                    "rotation": {
                        "roll": -0.000671388057526201,
                        "pitch": -0.03790754824876785,
                        "yaw": 99.14085388183594
                    }
                },
                "velocity": {
                    "x": -1.2787104845046997,
                    "y": 7.948543071746826,
                    "z": -0.005274095572531223
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32281753420829773,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.250792533159256,
        "expert_target_speed": 9.636391213244252,
        "target_point": [
            15.377072321966752,
            0.499295863597621
        ],
        "target_point_next": [
            33.37607757093175,
            0.6800023930381629
        ]
    },
    "740": {
        "acceleration": [
            -0.6817913055419922,
            5.83160400390625,
            -0.7383689284324646
        ],
        "angular_velocity": [
            -2.0028059482574463,
            0.8623262643814087,
            -0.27140864729881287
        ],
        "forward_vector": [
            -0.1479867547750473,
            0.9887058138847351,
            0.023681093007326126
        ],
        "right_vector": [
            -0.9889752268791199,
            -0.1480700969696045,
            0.0017955310177057981
        ],
        "location": [
            929.5180053710938,
            3575.356689453125,
            370.9118347167969
        ],
        "rotation": [
            -0.1029052659869194,
            1.3569536209106445,
            98.51268005371094
        ],
        "velocity": [
            -1.6808640956878662,
            11.368720054626465,
            0.09357990324497223
        ],
        "speed": 11.492306112727704,
        "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": 18.55870819091797,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                926.103759765625,
                3593.5986328125,
                370.9027404785156
            ],
            "velocity": [
                -1.281697154045105,
                7.9606828689575195,
                -0.0023093700874596834
            ],
            "speed_kmh": 29.02752679263541,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0012014207895845175,
                "transform": {
                    "location": {
                        "x": 895.4822998046875,
                        "y": 3574.7314453125,
                        "z": 371.1960144042969
                    },
                    "rotation": {
                        "roll": -0.0001220741542056203,
                        "pitch": -0.2549436390399933,
                        "yaw": 9.250566482543945
                    }
                },
                "velocity": {
                    "x": -0.0009086604113690555,
                    "y": -6.43097228021361e-05,
                    "z": -0.0007833341369405389
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6810139388544485e-05,
                "transform": {
                    "location": {
                        "x": 929.654052734375,
                        "y": 3613.43310546875,
                        "z": 370.8810119628906
                    },
                    "rotation": {
                        "roll": 0.00048172351671382785,
                        "pitch": 0.03902086988091469,
                        "yaw": -80.38180541992188
                    }
                },
                "velocity": {
                    "x": -1.3917241403760272e-06,
                    "y": 1.189205818263872e-06,
                    "z": 2.6747569791041315e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4756181240081787,
                "transform": {
                    "location": {
                        "x": 905.337158203125,
                        "y": 3576.325439453125,
                        "z": 371.117919921875
                    },
                    "rotation": {
                        "roll": 0.0006210231222212315,
                        "pitch": -0.3179931044578552,
                        "yaw": 9.067852020263672
                    }
                },
                "velocity": {
                    "x": 0.469550758600235,
                    "y": 0.07568229734897614,
                    "z": -0.0026217650156468153
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.177809238433838,
                "transform": {
                    "location": {
                        "x": 961.934814453125,
                        "y": 3582.477783203125,
                        "z": 370.6083984375
                    },
                    "rotation": {
                        "roll": 0.0023022263776510954,
                        "pitch": 0.7538069486618042,
                        "yaw": -170.71170043945312
                    }
                },
                "velocity": {
                    "x": -2.149178981781006,
                    "y": -0.3512954115867615,
                    "z": 0.021773509681224823
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.842552661895752,
                "transform": {
                    "location": {
                        "x": 939.9336547851562,
                        "y": 3507.763427734375,
                        "z": 370.769287109375
                    },
                    "rotation": {
                        "roll": 4.983905455446802e-05,
                        "pitch": 0.05233973637223244,
                        "yaw": 99.37594604492188
                    }
                },
                "velocity": {
                    "x": -1.268534779548645,
                    "y": 7.739248275756836,
                    "z": 0.022101592272520065
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00010070618736790493,
                "transform": {
                    "location": {
                        "x": 934.3120727539062,
                        "y": 3605.1142578125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0003036916896235198,
                        "pitch": 0.039772190153598785,
                        "yaw": -80.65274810791016
                    }
                },
                "velocity": {
                    "x": -3.6993578760302626e-06,
                    "y": -3.543439379427582e-05,
                    "z": 9.4193710538093e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.252197265625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -6.103482155594975e-05,
                        "pitch": 0.03904135897755623,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004220294940751046,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.004817548673599958,
                        "pitch": -0.4591048061847687,
                        "yaw": 8.34937858581543
                    }
                },
                "velocity": {
                    "x": 1.793772025848739e-05,
                    "y": 1.4388840554602211e-06,
                    "z": 0.00042164564365521073
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.056468963623047,
                "transform": {
                    "location": {
                        "x": 937.0994873046875,
                        "y": 3525.277099609375,
                        "z": 370.8172302246094
                    },
                    "rotation": {
                        "roll": 0.0001536997442599386,
                        "pitch": 0.1429695188999176,
                        "yaw": 99.14454650878906
                    }
                },
                "velocity": {
                    "x": -1.2803634405136108,
                    "y": 7.954050540924072,
                    "z": 0.021057089790701866
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.34848165512085,
                "transform": {
                    "location": {
                        "x": 922.6793823242188,
                        "y": 3635.4443359375,
                        "z": 370.87152099609375
                    },
                    "rotation": {
                        "roll": 0.006065069232136011,
                        "pitch": -0.1259486824274063,
                        "yaw": 99.35385131835938
                    }
                },
                "velocity": {
                    "x": -1.191654086112976,
                    "y": 7.251214027404785,
                    "z": -0.005892038345336914
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86287,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.005115501582622528,
                "transform": {
                    "location": {
                        "x": 927.6934204101562,
                        "y": 3625.432373046875,
                        "z": 370.88037109375
                    },
                    "rotation": {
                        "roll": -0.01708977296948433,
                        "pitch": -0.6937559247016907,
                        "yaw": -79.9920883178711
                    }
                },
                "velocity": {
                    "x": -0.000640026293694973,
                    "y": 0.005067343823611736,
                    "z": -0.00028416793793439865
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8163580298423767,
                "transform": {
                    "location": {
                        "x": 921.3997192382812,
                        "y": 3623.453125,
                        "z": 370.8756103515625
                    },
                    "rotation": {
                        "roll": -0.009185799397528172,
                        "pitch": 0.14432188868522644,
                        "yaw": 99.16397094726562
                    }
                },
                "velocity": {
                    "x": -0.1391582041978836,
                    "y": 0.8044081926345825,
                    "z": -0.0016936111496761441
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86289,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4439705610275269,
                "transform": {
                    "location": {
                        "x": 880.4487915039062,
                        "y": 3572.22021484375,
                        "z": 371.2770080566406
                    },
                    "rotation": {
                        "roll": 0.000571971817407757,
                        "pitch": -0.34209683537483215,
                        "yaw": 9.140246391296387
                    }
                },
                "velocity": {
                    "x": -0.008398241363465786,
                    "y": -0.0013577027712017298,
                    "z": -1.4439455270767212
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.08191406726837158,
                "transform": {
                    "location": {
                        "x": 972.7586669921875,
                        "y": 3584.2548828125,
                        "z": 370.4861145019531
                    },
                    "rotation": {
                        "roll": 0.003904118202626705,
                        "pitch": 0.6593590974807739,
                        "yaw": -170.31838989257812
                    }
                },
                "velocity": {
                    "x": -0.08074407279491425,
                    "y": -0.013654177077114582,
                    "z": 0.0019679737742990255
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.49398946762085,
                "transform": {
                    "location": {
                        "x": 938.849365234375,
                        "y": 3534.817626953125,
                        "z": 370.83892822265625
                    },
                    "rotation": {
                        "roll": -0.0010070799617096782,
                        "pitch": 0.0614238865673542,
                        "yaw": 99.4061279296875
                    }
                },
                "velocity": {
                    "x": -0.8708376884460449,
                    "y": 5.424523830413818,
                    "z": 0.010073414072394371
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.789688587188721,
                "transform": {
                    "location": {
                        "x": 936.4141845703125,
                        "y": 3549.99658203125,
                        "z": 370.8609619140625
                    },
                    "rotation": {
                        "roll": -0.001129146316088736,
                        "pitch": 0.15339921414852142,
                        "yaw": 99.1548843383789
                    }
                },
                "velocity": {
                    "x": -0.9211609959602356,
                    "y": 5.7159318923950195,
                    "z": 0.008855018764734268
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.6527709960938,
                        "y": 3615.24951171875,
                        "z": 370.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.019787056371569633,
                        "yaw": -80.42985534667969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063201904296875,
                "transform": {
                    "location": {
                        "x": 926.103759765625,
                        "y": 3593.5986328125,
                        "z": 370.9027404785156
                    },
                    "rotation": {
                        "roll": -0.00012207023974042386,
                        "pitch": -0.0032033585011959076,
                        "yaw": 99.14644622802734
                    }
                },
                "velocity": {
                    "x": -1.281697154045105,
                    "y": 7.9606828689575195,
                    "z": -0.0023093700874596834
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03359317779541,
                "transform": {
                    "location": {
                        "x": 887.0602416992188,
                        "y": 3570.64990234375,
                        "z": 371.2480773925781
                    },
                    "rotation": {
                        "roll": 0.002249367767944932,
                        "pitch": 0.3743489980697632,
                        "yaw": -170.85997009277344
                    }
                },
                "velocity": {
                    "x": -7.931429386138916,
                    "y": -1.2761245965957642,
                    "z": 0.05051974207162857
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.654036045074463,
                "transform": {
                    "location": {
                        "x": 941.4052124023438,
                        "y": 3518.95654296875,
                        "z": 370.7937316894531
                    },
                    "rotation": {
                        "roll": 0.011201931163668633,
                        "pitch": 0.30130696296691895,
                        "yaw": 99.98506927490234
                    }
                },
                "velocity": {
                    "x": -0.6007499694824219,
                    "y": 3.6043004989624023,
                    "z": 0.009836073033511639
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.193480014801025,
                "transform": {
                    "location": {
                        "x": 933.92333984375,
                        "y": 3565.423583984375,
                        "z": 370.8775634765625
                    },
                    "rotation": {
                        "roll": 0.00022524457017425448,
                        "pitch": 0.042955055832862854,
                        "yaw": 99.19720458984375
                    }
                },
                "velocity": {
                    "x": -0.6668505668640137,
                    "y": 4.1401190757751465,
                    "z": -0.00020981788111384958
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.007756233215332,
                "transform": {
                    "location": {
                        "x": 945.4559936523438,
                        "y": 3582.834716796875,
                        "z": 370.7745361328125
                    },
                    "rotation": {
                        "roll": -0.1618652194738388,
                        "pitch": -0.6435540318489075,
                        "yaw": 14.050989151000977
                    }
                },
                "velocity": {
                    "x": 7.839237689971924,
                    "y": 1.6320860385894775,
                    "z": -0.08246244490146637
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050077438354492,
                "transform": {
                    "location": {
                        "x": 926.6245727539062,
                        "y": 3610.819580078125,
                        "z": 370.8887023925781
                    },
                    "rotation": {
                        "roll": 0.00020631977531593293,
                        "pitch": -0.03839249163866043,
                        "yaw": 99.13790130615234
                    }
                },
                "velocity": {
                    "x": -1.2786755561828613,
                    "y": 7.947874546051025,
                    "z": -0.005501489620655775
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.24034593999385834,
        "expert_target_speed": 10.0,
        "target_point": [
            12.689162109663705,
            0.5116150905484391
        ],
        "target_point_next": [
            30.687986696946123,
            0.7094995980006313
        ]
    },
    "745": {
        "acceleration": [
            -0.817863941192627,
            5.422382354736328,
            -0.8397248387336731
        ],
        "angular_velocity": [
            -1.4824254512786865,
            -0.19197334349155426,
            -0.2582782506942749
        ],
        "forward_vector": [
            -0.14668460190296173,
            0.9891111254692078,
            0.011951279826462269
        ],
        "right_vector": [
            -0.9891440272331238,
            -0.14677581191062927,
            0.007145221810787916
        ],
        "location": [
            929.0700073242188,
            3578.371826171875,
            370.92901611328125
        ],
        "rotation": [
            -0.4094237983226776,
            0.6847742199897766,
            98.4354476928711
        ],
        "velocity": [
            -1.8679373264312744,
            12.741394996643066,
            0.016946667805314064
        ],
        "speed": 12.877590470113429,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.8388838732273696,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 13.53196907043457,
        "front_vehicle_info": {
            "id": 86268,
            "type": "vehicle.ford.mustang",
            "location": [
                915.545166015625,
                3577.946533203125,
                371.03851318359375
            ],
            "velocity": [
                1.7082691556424834e-05,
                5.069123290013522e-06,
                0.00029715264099650085
            ],
            "speed_kmh": 0.0010716711226452164,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001518497010692954,
                "transform": {
                    "location": {
                        "x": 895.4816284179688,
                        "y": 3574.7314453125,
                        "z": 371.1968994140625
                    },
                    "rotation": {
                        "roll": -0.00021362450206652284,
                        "pitch": -0.3656063377857208,
                        "yaw": 9.2505464553833
                    }
                },
                "velocity": {
                    "x": -2.4468226911267266e-05,
                    "y": 1.2196534953545779e-05,
                    "z": 0.00014936827938072383
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.0477045735751744e-06,
                "transform": {
                    "location": {
                        "x": 929.654052734375,
                        "y": 3613.43310546875,
                        "z": 370.8810119628906
                    },
                    "rotation": {
                        "roll": 0.00032525279675610363,
                        "pitch": 0.03898671641945839,
                        "yaw": -80.38180541992188
                    }
                },
                "velocity": {
                    "x": 1.7713871613977972e-07,
                    "y": 1.4769145764148561e-06,
                    "z": 5.8619175433705095e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.308467984199524,
                "transform": {
                    "location": {
                        "x": 905.559814453125,
                        "y": 3576.361572265625,
                        "z": 371.11572265625
                    },
                    "rotation": {
                        "roll": 0.0006639788625761867,
                        "pitch": -0.1505783349275589,
                        "yaw": 9.039850234985352
                    }
                },
                "velocity": {
                    "x": 1.2918065786361694,
                    "y": 0.20791614055633545,
                    "z": -0.009761571884155273
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0038320396561175585,
                "transform": {
                    "location": {
                        "x": 961.778564453125,
                        "y": 3582.4521484375,
                        "z": 370.6098327636719
                    },
                    "rotation": {
                        "roll": 0.0030837291851639748,
                        "pitch": 0.3055553138256073,
                        "yaw": -170.80516052246094
                    }
                },
                "velocity": {
                    "x": 0.003688117489218712,
                    "y": 0.0006898625870235264,
                    "z": 0.0007787208305671811
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.124774932861328,
                "transform": {
                    "location": {
                        "x": 939.6012573242188,
                        "y": 3509.7958984375,
                        "z": 370.7746887207031
                    },
                    "rotation": {
                        "roll": -0.0029296858701854944,
                        "pitch": 0.10874343663454056,
                        "yaw": 99.29293823242188
                    }
                },
                "velocity": {
                    "x": -1.301600456237793,
                    "y": 8.019804000854492,
                    "z": 0.02348506823182106
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00010119375656358898,
                "transform": {
                    "location": {
                        "x": 934.3120727539062,
                        "y": 3605.1142578125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0003036916896235198,
                        "pitch": 0.039772190153598785,
                        "yaw": -80.65274810791016
                    }
                },
                "velocity": {
                    "x": 6.2878942117095e-05,
                    "y": 1.5667243133066222e-05,
                    "z": -7.772356912028044e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00036018172977492213,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.252197265625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -0.000244140945142135,
                        "pitch": 0.03903453052043915,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": 2.697057425393723e-05,
                    "y": -1.15845487016486e-05,
                    "z": -0.00035898364149034023
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002976864343509078,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.005882528610527515,
                        "pitch": -0.4587633013725281,
                        "yaw": 8.349344253540039
                    }
                },
                "velocity": {
                    "x": 1.7082691556424834e-05,
                    "y": 5.069123290013522e-06,
                    "z": 0.00029715264099650085
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.086869239807129,
                "transform": {
                    "location": {
                        "x": 936.77880859375,
                        "y": 3527.26953125,
                        "z": 370.822265625
                    },
                    "rotation": {
                        "roll": 0.0011724483920261264,
                        "pitch": 0.14599528908729553,
                        "yaw": 99.14462280273438
                    }
                },
                "velocity": {
                    "x": -1.2852352857589722,
                    "y": 7.9840569496154785,
                    "z": 0.02143809199333191
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.680201053619385,
                "transform": {
                    "location": {
                        "x": 922.4097290039062,
                        "y": 3637.0888671875,
                        "z": 370.8699645996094
                    },
                    "rotation": {
                        "roll": 0.0016660647233948112,
                        "pitch": -0.2732485234737396,
                        "yaw": 99.29225158691406
                    }
                },
                "velocity": {
                    "x": -0.9183860421180725,
                    "y": 5.60546350479126,
                    "z": -0.005800676066428423
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86287,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9693630933761597,
                "transform": {
                    "location": {
                        "x": 927.74365234375,
                        "y": 3625.142333984375,
                        "z": 370.8807678222656
                    },
                    "rotation": {
                        "roll": -0.0007019100012257695,
                        "pitch": 0.11467886716127396,
                        "yaw": -80.05656433105469
                    }
                },
                "velocity": {
                    "x": 0.3355337977409363,
                    "y": -1.940568208694458,
                    "z": 0.0016953276935964823
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.683051586151123,
                "transform": {
                    "location": {
                        "x": 921.3463745117188,
                        "y": 3623.767822265625,
                        "z": 370.8747253417969
                    },
                    "rotation": {
                        "roll": -0.00915528740733862,
                        "pitch": 0.31703686714172363,
                        "yaw": 99.27323913574219
                    }
                },
                "velocity": {
                    "x": -0.2833254933357239,
                    "y": 1.6590317487716675,
                    "z": -0.0017917441437020898
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86289,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.25573378801345825,
                "transform": {
                    "location": {
                        "x": 880.4485473632812,
                        "y": 3572.22021484375,
                        "z": 371.24041748046875
                    },
                    "rotation": {
                        "roll": 0.00027072278317064047,
                        "pitch": -0.3431350290775299,
                        "yaw": 9.140214920043945
                    }
                },
                "velocity": {
                    "x": 0.0015167307574301958,
                    "y": 0.00014010348240844905,
                    "z": 0.2557292580604553
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8124620914459229,
                "transform": {
                    "location": {
                        "x": 972.64404296875,
                        "y": 3584.23583984375,
                        "z": 370.4867248535156
                    },
                    "rotation": {
                        "roll": 0.006154484581202269,
                        "pitch": 0.8544360995292664,
                        "yaw": -170.32676696777344
                    }
                },
                "velocity": {
                    "x": -0.8012391328811646,
                    "y": -0.13428953289985657,
                    "z": 0.008760957978665829
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.73753547668457,
                "transform": {
                    "location": {
                        "x": 938.6207885742188,
                        "y": 3536.233642578125,
                        "z": 370.8416442871094
                    },
                    "rotation": {
                        "roll": -0.0008239723392762244,
                        "pitch": 0.07897064089775085,
                        "yaw": 99.2071762084961
                    }
                },
                "velocity": {
                    "x": -0.906286358833313,
                    "y": 5.665495872497559,
                    "z": 0.010719947516918182
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.333339691162109,
                "transform": {
                    "location": {
                        "x": 936.1348266601562,
                        "y": 3551.7333984375,
                        "z": 370.8635559082031
                    },
                    "rotation": {
                        "roll": -0.0010070877615362406,
                        "pitch": 0.2338929921388626,
                        "yaw": 99.14299011230469
                    }
                },
                "velocity": {
                    "x": -1.1652774810791016,
                    "y": 7.24015998840332,
                    "z": 0.009149684570729733
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.6527709960938,
                        "y": 3615.24951171875,
                        "z": 370.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.019787056371569633,
                        "yaw": -80.42985534667969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.001843452453613,
                "transform": {
                    "location": {
                        "x": 925.7844848632812,
                        "y": 3595.580810546875,
                        "z": 370.90234375
                    },
                    "rotation": {
                        "roll": -0.0002136235125362873,
                        "pitch": -0.024656981229782104,
                        "yaw": 99.14610290527344
                    }
                },
                "velocity": {
                    "x": -1.2719337940216064,
                    "y": 7.900105953216553,
                    "z": -0.00254167546518147
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017234802246094,
                "transform": {
                    "location": {
                        "x": 885.0795288085938,
                        "y": 3570.3310546875,
                        "z": 371.2606506347656
                    },
                    "rotation": {
                        "roll": 0.002427144208922982,
                        "pitch": 0.3590903580188751,
                        "yaw": -170.8623046875
                    }
                },
                "velocity": {
                    "x": -7.915517330169678,
                    "y": -1.272114634513855,
                    "z": 0.048642922192811966
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.0818705558776855,
                "transform": {
                    "location": {
                        "x": 941.2257690429688,
                        "y": 3520.045654296875,
                        "z": 370.7969055175781
                    },
                    "rotation": {
                        "roll": 0.012589728459715843,
                        "pitch": 0.3701893985271454,
                        "yaw": 99.593017578125
                    }
                },
                "velocity": {
                    "x": -0.8221981525421143,
                    "y": 5.01487398147583,
                    "z": 0.02089260146021843
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8975324630737305,
                "transform": {
                    "location": {
                        "x": 933.7899780273438,
                        "y": 3566.25341796875,
                        "z": 370.87811279296875
                    },
                    "rotation": {
                        "roll": 0.00036761045339517295,
                        "pitch": 0.024322303012013435,
                        "yaw": 99.16448974609375
                    }
                },
                "velocity": {
                    "x": -0.6184165477752686,
                    "y": 3.8481569290161133,
                    "z": 0.002874832134693861
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.071883201599121,
                "transform": {
                    "location": {
                        "x": 947.4256591796875,
                        "y": 3583.241455078125,
                        "z": 370.7526550292969
                    },
                    "rotation": {
                        "roll": -0.0863952487707138,
                        "pitch": -0.5551440715789795,
                        "yaw": 11.724588394165039
                    }
                },
                "velocity": {
                    "x": 7.940993309020996,
                    "y": 1.445504903793335,
                    "z": -0.0802568644285202
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050747871398926,
                "transform": {
                    "location": {
                        "x": 926.3048095703125,
                        "y": 3612.80712890625,
                        "z": 370.8873291015625
                    },
                    "rotation": {
                        "roll": -0.00042724708328023553,
                        "pitch": -0.03814660385251045,
                        "yaw": 99.1427993774414
                    }
                },
                "velocity": {
                    "x": -1.2798129320144653,
                    "y": 7.948369979858398,
                    "z": -0.00556212430819869
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.24375084042549133,
        "expert_target_speed": 10.0,
        "target_point": [
            9.640223307976196,
            0.5278795405084222
        ],
        "target_point_next": [
            27.638764684085526,
            0.7500351943465198
        ]
    },
    "750": {
        "acceleration": [
            0.11226892471313477,
            -0.9342002868652344,
            -0.677853524684906
        ],
        "angular_velocity": [
            -7.657209396362305,
            -1.5908761024475098,
            0.08035196363925934
        ],
        "forward_vector": [
            -0.14636008441448212,
            0.9892306327819824,
            -0.0011845823610201478
        ],
        "right_vector": [
            -0.9892264604568481,
            -0.14635547995567322,
            0.003328942693769932
        ],
        "location": [
            928.5829467773438,
            3581.68701171875,
            370.9174499511719
        ],
        "rotation": [
            -0.1907348483800888,
            -0.0678715854883194,
            98.41605377197266
        ],
        "velocity": [
            -1.9954370260238647,
            13.446066856384277,
            -0.17074838280677795
        ],
        "speed": 13.593324936570255,
        "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": 16.179866790771484,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                925.465576171875,
                3597.563720703125,
                370.9014892578125
            ],
            "velocity": [
                -1.2790184020996094,
                7.959788799285889,
                -0.0020146083552390337
            ],
            "speed_kmh": 29.022817282198535,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1388252228498459,
                "transform": {
                    "location": {
                        "x": 895.489013671875,
                        "y": 3574.732666015625,
                        "z": 371.1971130371094
                    },
                    "rotation": {
                        "roll": -0.0003356942324899137,
                        "pitch": -0.3904750645160675,
                        "yaw": 9.248427391052246
                    }
                },
                "velocity": {
                    "x": 0.13703663647174835,
                    "y": 0.022161437198519707,
                    "z": -0.0015076351119205356
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.493614025908755e-06,
                "transform": {
                    "location": {
                        "x": 929.654052734375,
                        "y": 3613.43310546875,
                        "z": 370.8810119628906
                    },
                    "rotation": {
                        "roll": 0.0006389246555045247,
                        "pitch": 0.03896622732281685,
                        "yaw": -80.38180541992188
                    }
                },
                "velocity": {
                    "x": -1.5621712918800768e-06,
                    "y": 7.044104677333962e-07,
                    "z": -5.219503691478167e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.110416889190674,
                "transform": {
                    "location": {
                        "x": 905.9805908203125,
                        "y": 3576.428955078125,
                        "z": 371.1123046875
                    },
                    "rotation": {
                        "roll": -0.0015563955530524254,
                        "pitch": -0.0971662625670433,
                        "yaw": 9.059988975524902
                    }
                },
                "velocity": {
                    "x": 2.083630084991455,
                    "y": 0.33483877778053284,
                    "z": -0.015127191320061684
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0017683996120467782,
                "transform": {
                    "location": {
                        "x": 961.7772216796875,
                        "y": 3582.451904296875,
                        "z": 370.60992431640625
                    },
                    "rotation": {
                        "roll": 0.0006392526556737721,
                        "pitch": 0.5205764770507812,
                        "yaw": -170.8050994873047
                    }
                },
                "velocity": {
                    "x": 0.0013595210621133447,
                    "y": 0.0007774454425089061,
                    "z": 0.0008212905377149582
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 939.3158569335938,
                        "y": 3511.771484375,
                        "z": 370.7784423828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6205525753321126e-05,
                "transform": {
                    "location": {
                        "x": 934.3120727539062,
                        "y": 3605.1142578125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0003036916896235198,
                        "pitch": 0.039772190153598785,
                        "yaw": -80.65274810791016
                    }
                },
                "velocity": {
                    "x": -2.2100075511843897e-06,
                    "y": 4.8931685370234845e-08,
                    "z": -1.6054049410740845e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00016523907834198326,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.252197265625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": 0.03884328529238701,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": -4.9543985369382426e-05,
                    "y": -2.8620641387533396e-05,
                    "z": 0.0001550167944515124
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.371553975739516e-05,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.005464843008667231,
                        "pitch": -0.458524227142334,
                        "yaw": 8.349313735961914
                    }
                },
                "velocity": {
                    "x": 1.5550478565273806e-05,
                    "y": 3.215791593902395e-06,
                    "z": 2.974187009385787e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.057347297668457,
                "transform": {
                    "location": {
                        "x": 936.458251953125,
                        "y": 3529.261474609375,
                        "z": 370.82733154296875
                    },
                    "rotation": {
                        "roll": 0.00016906106611713767,
                        "pitch": 0.1457015872001648,
                        "yaw": 99.14198303222656
                    }
                },
                "velocity": {
                    "x": -1.2801344394683838,
                    "y": 7.954977035522461,
                    "z": 0.021076392382383347
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.3037848472595215,
                "transform": {
                    "location": {
                        "x": 922.2310180664062,
                        "y": 3638.184326171875,
                        "z": 370.8686218261719
                    },
                    "rotation": {
                        "roll": 0.0016005884390324354,
                        "pitch": -0.25963595509529114,
                        "yaw": 99.23307037353516
                    }
                },
                "velocity": {
                    "x": -0.6889228820800781,
                    "y": 4.248286724090576,
                    "z": -0.002939376747235656
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86287,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.033355951309204,
                "transform": {
                    "location": {
                        "x": 927.84375,
                        "y": 3624.56201171875,
                        "z": 370.8811950683594
                    },
                    "rotation": {
                        "roll": 0.002241485984995961,
                        "pitch": 0.09837520867586136,
                        "yaw": -80.1744155883789
                    }
                },
                "velocity": {
                    "x": 0.34438031911849976,
                    "y": -2.0039803981781006,
                    "z": 0.0011980724520981312
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.7404439449310303,
                "transform": {
                    "location": {
                        "x": 921.2530517578125,
                        "y": 3624.316162109375,
                        "z": 370.8740539550781
                    },
                    "rotation": {
                        "roll": -0.01071167178452015,
                        "pitch": 0.38493576645851135,
                        "yaw": 99.40618896484375
                    }
                },
                "velocity": {
                    "x": -0.4629857838153839,
                    "y": 2.701050043106079,
                    "z": -0.002536563901230693
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86289,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.061643678694963455,
                "transform": {
                    "location": {
                        "x": 880.4487915039062,
                        "y": 3572.22021484375,
                        "z": 371.2801208496094
                    },
                    "rotation": {
                        "roll": -9.155218140222132e-05,
                        "pitch": -0.3430462181568146,
                        "yaw": 9.140210151672363
                    }
                },
                "velocity": {
                    "x": 0.00037574482848867774,
                    "y": 9.23678271647077e-06,
                    "z": 0.06164253130555153
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.657629132270813,
                "transform": {
                    "location": {
                        "x": 972.3418579101562,
                        "y": 3584.185546875,
                        "z": 370.4898376464844
                    },
                    "rotation": {
                        "roll": 0.009772060438990593,
                        "pitch": 0.9888474345207214,
                        "yaw": -170.38243103027344
                    }
                },
                "velocity": {
                    "x": -1.6351693868637085,
                    "y": -0.2712007164955139,
                    "z": 0.020139923319220543
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.545157432556152,
                "transform": {
                    "location": {
                        "x": 938.343017578125,
                        "y": 3537.9677734375,
                        "z": 370.84600830078125
                    },
                    "rotation": {
                        "roll": -0.0007324210600927472,
                        "pitch": -0.018912792205810547,
                        "yaw": 99.16024017333984
                    }
                },
                "velocity": {
                    "x": -1.1931082010269165,
                    "y": 7.45021390914917,
                    "z": 0.014400710351765156
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.6062421798706055,
                "transform": {
                    "location": {
                        "x": 935.8609008789062,
                        "y": 3553.435546875,
                        "z": 370.865234375
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": 0.018557623028755188,
                        "yaw": 99.13655090332031
                    }
                },
                "velocity": {
                    "x": -1.0502787828445435,
                    "y": 6.522215843200684,
                    "z": 0.007129335310310125
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.6527709960938,
                        "y": 3615.24951171875,
                        "z": 370.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.019787056371569633,
                        "yaw": -80.42985534667969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.061893463134766,
                "transform": {
                    "location": {
                        "x": 925.465576171875,
                        "y": 3597.563720703125,
                        "z": 370.9014892578125
                    },
                    "rotation": {
                        "roll": -0.0001525887055322528,
                        "pitch": -0.024957509711384773,
                        "yaw": 99.13996887207031
                    }
                },
                "velocity": {
                    "x": -1.2790184020996094,
                    "y": 7.959788799285889,
                    "z": -0.0020146083552390337
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032509803771973,
                "transform": {
                    "location": {
                        "x": 883.0988159179688,
                        "y": 3570.0126953125,
                        "z": 371.2728576660156
                    },
                    "rotation": {
                        "roll": 0.0009735694620758295,
                        "pitch": 0.3583458662033081,
                        "yaw": -170.86386108398438
                    }
                },
                "velocity": {
                    "x": -7.930467128753662,
                    "y": -1.2753589153289795,
                    "z": 0.048708684742450714
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.518972873687744,
                "transform": {
                    "location": {
                        "x": 941.0092163085938,
                        "y": 3521.37744140625,
                        "z": 370.8006896972656
                    },
                    "rotation": {
                        "roll": 0.008480075746774673,
                        "pitch": 0.2631330192089081,
                        "yaw": 99.3319320678711
                    }
                },
                "velocity": {
                    "x": -0.8826806545257568,
                    "y": 5.447912693023682,
                    "z": 0.01362641341984272
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.740461349487305,
                "transform": {
                    "location": {
                        "x": 933.6106567382812,
                        "y": 3567.3701171875,
                        "z": 370.8792419433594
                    },
                    "rotation": {
                        "roll": 0.0003299514064565301,
                        "pitch": 0.15854917466640472,
                        "yaw": 99.13890075683594
                    }
                },
                "velocity": {
                    "x": -0.7515242695808411,
                    "y": 4.680509090423584,
                    "z": 0.0043474482372403145
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.006246566772461,
                "transform": {
                    "location": {
                        "x": 949.4016723632812,
                        "y": 3583.603759765625,
                        "z": 370.73297119140625
                    },
                    "rotation": {
                        "roll": -0.0333251915872097,
                        "pitch": -0.5643512010574341,
                        "yaw": 10.467950820922852
                    }
                },
                "velocity": {
                    "x": 7.884876728057861,
                    "y": 1.3865389823913574,
                    "z": -0.07883138209581375
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050132751464844,
                "transform": {
                    "location": {
                        "x": 925.9850463867188,
                        "y": 3614.794189453125,
                        "z": 370.8859558105469
                    },
                    "rotation": {
                        "roll": 0.001374969375319779,
                        "pitch": -0.03820807486772537,
                        "yaw": 99.14149475097656
                    }
                },
                "velocity": {
                    "x": -1.2792574167251587,
                    "y": 7.947835445404053,
                    "z": -0.006565227173268795
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.25563591718673706,
        "expert_target_speed": 10.0,
        "target_point": [
            24.28773773536537,
            0.7627757355218683
        ],
        "target_point_next": [
            24.28773773536537,
            0.7627757355218683
        ]
    },
    "755": {
        "acceleration": [
            -0.6738042831420898,
            4.647502899169922,
            1.372679591178894
        ],
        "angular_velocity": [
            3.3598828315734863,
            0.45602720975875854,
            0.1679047793149948
        ],
        "forward_vector": [
            -0.14705780148506165,
            0.9890938401222229,
            0.008204248733818531
        ],
        "right_vector": [
            -0.9891271591186523,
            -0.14706285297870636,
            1.2782401427102741e-05
        ],
        "location": [
            928.0550537109375,
            3585.251708984375,
            370.8898010253906
        ],
        "rotation": [
            -0.0007324023172259331,
            0.4700740873813629,
            98.45674896240234
        ],
        "velocity": [
            -2.210705041885376,
            14.838179588317871,
            -0.06550397723913193
        ],
        "speed": 15.00195954791875,
        "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": 14.587286949157715,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                925.1467895507812,
                3599.546142578125,
                370.9006042480469
            ],
            "velocity": [
                -1.2709593772888184,
                7.901008129119873,
                -0.005108966492116451
            ],
            "speed_kmh": 28.80928949358023,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8944039344787598,
                "transform": {
                    "location": {
                        "x": 895.6099853515625,
                        "y": 3574.751708984375,
                        "z": 371.1966857910156
                    },
                    "rotation": {
                        "roll": -0.0008239733288064599,
                        "pitch": -0.4472953975200653,
                        "yaw": 9.287407875061035
                    }
                },
                "velocity": {
                    "x": 0.8829396367073059,
                    "y": 0.14261507987976074,
                    "z": -0.006076974794268608
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.592684596602339e-06,
                "transform": {
                    "location": {
                        "x": 929.654052734375,
                        "y": 3613.43310546875,
                        "z": 370.8810119628906
                    },
                    "rotation": {
                        "roll": 0.0002670160902198404,
                        "pitch": 0.03896622732281685,
                        "yaw": -80.38180541992188
                    }
                },
                "velocity": {
                    "x": 1.5219906117636128e-06,
                    "y": 1.5308939964597812e-06,
                    "z": -7.279338660737267e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0953154563903809,
                "transform": {
                    "location": {
                        "x": 906.499755859375,
                        "y": 3576.51171875,
                        "z": 371.1096496582031
                    },
                    "rotation": {
                        "roll": -0.0003051751118618995,
                        "pitch": -0.4082881808280945,
                        "yaw": 9.166544914245605
                    }
                },
                "velocity": {
                    "x": 1.082254409790039,
                    "y": 0.1684330850839615,
                    "z": -0.008459233678877354
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001509381108917296,
                "transform": {
                    "location": {
                        "x": 961.7769165039062,
                        "y": 3582.451904296875,
                        "z": 370.6099853515625
                    },
                    "rotation": {
                        "roll": -0.00012206579413032159,
                        "pitch": 0.5769460201263428,
                        "yaw": -170.80503845214844
                    }
                },
                "velocity": {
                    "x": 0.00027045546448789537,
                    "y": 0.00021879066480323672,
                    "z": 0.0014687463408336043
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 939.0462036132812,
                        "y": 3513.77001953125,
                        "z": 370.7821350097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0687333492096514e-05,
                "transform": {
                    "location": {
                        "x": 934.3120727539062,
                        "y": 3605.1142578125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.0003036916896235198,
                        "pitch": 0.039772190153598785,
                        "yaw": -80.65274810791016
                    }
                },
                "velocity": {
                    "x": -5.9702897488023154e-06,
                    "y": -1.1068335879826918e-05,
                    "z": 2.799214234983083e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00022889468527864665,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.252197265625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": 0.03884328529238701,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": 1.821377554733772e-05,
                    "y": 2.722011413425207e-05,
                    "z": 0.00022653939959127456
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00038640835555270314,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.005620248150080442,
                        "pitch": -0.4586471915245056,
                        "yaw": 8.349273681640625
                    }
                },
                "velocity": {
                    "x": 1.872591565188486e-05,
                    "y": -1.5489663383050356e-06,
                    "z": 0.0003859512507915497
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.08725643157959,
                "transform": {
                    "location": {
                        "x": 936.1375732421875,
                        "y": 3531.25390625,
                        "z": 370.83233642578125
                    },
                    "rotation": {
                        "roll": -9.154747385764495e-05,
                        "pitch": 0.1387757807970047,
                        "yaw": 99.14350891113281
                    }
                },
                "velocity": {
                    "x": -1.2852730751037598,
                    "y": 7.984451770782471,
                    "z": 0.017680244520306587
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.311572551727295,
                "transform": {
                    "location": {
                        "x": 922.0350341796875,
                        "y": 3639.390625,
                        "z": 370.8684387207031
                    },
                    "rotation": {
                        "roll": 0.001077045570127666,
                        "pitch": 0.03307860344648361,
                        "yaw": 99.22435760498047
                    }
                },
                "velocity": {
                    "x": -0.8501222729682922,
                    "y": 5.243099212646484,
                    "z": -0.00284404749982059
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86287,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.632099449634552,
                "transform": {
                    "location": {
                        "x": 927.8636474609375,
                        "y": 3624.44873046875,
                        "z": 370.88116455078125
                    },
                    "rotation": {
                        "roll": 0.002361203311011195,
                        "pitch": -0.12493781000375748,
                        "yaw": -80.35075378417969
                    }
                },
                "velocity": {
                    "x": 0.10676899552345276,
                    "y": -0.6230140328407288,
                    "z": 0.0018916510744020343
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.141512393951416,
                "transform": {
                    "location": {
                        "x": 921.1068725585938,
                        "y": 3625.171142578125,
                        "z": 370.8729248046875
                    },
                    "rotation": {
                        "roll": -0.012176531367003918,
                        "pitch": 0.5153582096099854,
                        "yaw": 99.5515365600586
                    }
                },
                "velocity": {
                    "x": -0.7014651298522949,
                    "y": 4.081674575805664,
                    "z": -0.0021171951666474342
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86289,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.253476858139038,
                "transform": {
                    "location": {
                        "x": 880.6259155273438,
                        "y": 3572.249267578125,
                        "z": 371.2831115722656
                    },
                    "rotation": {
                        "roll": -0.0013122559757903218,
                        "pitch": -0.30996763706207275,
                        "yaw": 9.233677864074707
                    }
                },
                "velocity": {
                    "x": 1.2353336811065674,
                    "y": 0.2123061716556549,
                    "z": -0.009003153070807457
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3093156814575195,
                "transform": {
                    "location": {
                        "x": 971.8341674804688,
                        "y": 3584.10107421875,
                        "z": 370.49560546875
                    },
                    "rotation": {
                        "roll": 0.007522433064877987,
                        "pitch": 1.0066741704940796,
                        "yaw": -170.44015502929688
                    }
                },
                "velocity": {
                    "x": -2.2782342433929443,
                    "y": -0.37677377462387085,
                    "z": 0.025085458531975746
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.7513837814331055,
                "transform": {
                    "location": {
                        "x": 938.0570068359375,
                        "y": 3539.7490234375,
                        "z": 370.84820556640625
                    },
                    "rotation": {
                        "roll": 0.001123703783378005,
                        "pitch": 0.15820766985416412,
                        "yaw": 99.0997314453125
                    }
                },
                "velocity": {
                    "x": -1.0707790851593018,
                    "y": 6.665914058685303,
                    "z": 0.014266318641602993
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.806746006011963,
                "transform": {
                    "location": {
                        "x": 935.651123046875,
                        "y": 3554.739013671875,
                        "z": 370.8658142089844
                    },
                    "rotation": {
                        "roll": -0.0001526023115729913,
                        "pitch": -0.39462098479270935,
                        "yaw": 99.1693344116211
                    }
                },
                "velocity": {
                    "x": -0.4455874264240265,
                    "y": 2.7711503505706787,
                    "z": 0.0010283851297572255
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.6527709960938,
                        "y": 3615.24951171875,
                        "z": 370.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.019787056371569633,
                        "yaw": -80.42985534667969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.002580642700195,
                "transform": {
                    "location": {
                        "x": 925.1467895507812,
                        "y": 3599.546142578125,
                        "z": 370.9006042480469
                    },
                    "rotation": {
                        "roll": -0.00039672880666330457,
                        "pitch": -0.02862532064318657,
                        "yaw": 99.13835144042969
                    }
                },
                "velocity": {
                    "x": -1.2709593772888184,
                    "y": 7.901008129119873,
                    "z": -0.005108966492116451
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017684936523438,
                "transform": {
                    "location": {
                        "x": 881.117919921875,
                        "y": 3569.693603515625,
                        "z": 371.2849426269531
                    },
                    "rotation": {
                        "roll": 0.00037633790634572506,
                        "pitch": 0.35386526584625244,
                        "yaw": -170.86016845703125
                    }
                },
                "velocity": {
                    "x": -7.915748119354248,
                    "y": -1.2735083103179932,
                    "z": 0.048774879425764084
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.248984336853027,
                "transform": {
                    "location": {
                        "x": 940.764892578125,
                        "y": 3522.8955078125,
                        "z": 370.8049011230469
                    },
                    "rotation": {
                        "roll": 0.006305941380560398,
                        "pitch": 0.4032611846923828,
                        "yaw": 99.17894744873047
                    }
                },
                "velocity": {
                    "x": -1.1479308605194092,
                    "y": 7.1574931144714355,
                    "z": 0.017932690680027008
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.189530372619629,
                "transform": {
                    "location": {
                        "x": 933.4383544921875,
                        "y": 3568.443603515625,
                        "z": 370.8800354003906
                    },
                    "rotation": {
                        "roll": -0.0001831056724768132,
                        "pitch": 0.013298377394676208,
                        "yaw": 99.12580108642578
                    }
                },
                "velocity": {
                    "x": -0.6637794375419617,
                    "y": 4.1366095542907715,
                    "z": 0.004838657099753618
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.069599151611328,
                "transform": {
                    "location": {
                        "x": 951.3806762695312,
                        "y": 3583.95263671875,
                        "z": 370.71307373046875
                    },
                    "rotation": {
                        "roll": -0.014953617937862873,
                        "pitch": -0.5676228404045105,
                        "yaw": 10.022494316101074
                    }
                },
                "velocity": {
                    "x": 7.950189113616943,
                    "y": 1.3807536363601685,
                    "z": -0.08025456964969635
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050980567932129,
                "transform": {
                    "location": {
                        "x": 925.6651611328125,
                        "y": 3616.78173828125,
                        "z": 370.8846130371094
                    },
                    "rotation": {
                        "roll": 0.00014428110443986952,
                        "pitch": -0.03814660385251045,
                        "yaw": 99.14786529541016
                    }
                },
                "velocity": {
                    "x": -1.279639720916748,
                    "y": 7.948633193969727,
                    "z": -0.005366868805140257
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.24833087623119354,
        "expert_target_speed": 10.0,
        "target_point": [
            20.684701065825962,
            0.7476070197293199
        ],
        "target_point_next": [
            20.684701065825962,
            0.7476070197293199
        ]
    },
    "760": {
        "acceleration": [
            -0.6480169296264648,
            4.109668731689453,
            0.011837761849164963
        ],
        "angular_velocity": [
            -0.39533597230911255,
            -0.010748819448053837,
            0.15317650139331818
        ],
        "forward_vector": [
            -0.1477268487215042,
            0.9889777302742004,
            0.009987665340304375
        ],
        "right_vector": [
            -0.9890269637107849,
            -0.14773520827293396,
            9.959702583728358e-05
        ],
        "location": [
            927.4805908203125,
            3589.104248046875,
            370.88922119140625
        ],
        "rotation": [
            -0.005706774070858955,
            0.5722605586051941,
            98.49564361572266
        ],
        "velocity": [
            -2.37618088722229,
            15.910090446472168,
            0.01573263108730316
        ],
        "speed": 16.086553814404297,
        "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": 12.704366683959961,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                924.8278198242188,
                3601.528564453125,
                370.89935302734375
            ],
            "velocity": [
                -1.2803906202316284,
                7.959587097167969,
                -0.006157713010907173
            ],
            "speed_kmh": 29.022892068247,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86293,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 986.4259033203125,
                        "y": 3586.569091796875,
                        "z": 370.6051330566406
                    },
                    "rotation": {
                        "roll": 6.670674679298827e-09,
                        "pitch": 0.747953474521637,
                        "yaw": -170.74758911132812
                    }
                },
                "velocity": {
                    "x": -3.937231429773647e-09,
                    "y": -6.41387387645409e-10,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86284,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7218985557556152,
                "transform": {
                    "location": {
                        "x": 895.9349975585938,
                        "y": 3574.80419921875,
                        "z": 371.19464111328125
                    },
                    "rotation": {
                        "roll": -0.001647948520258069,
                        "pitch": -0.4702175259590149,
                        "yaw": 9.28721809387207
                    }
                },
                "velocity": {
                    "x": 1.6997334957122803,
                    "y": 0.27515214681625366,
                    "z": -0.011492518708109856
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.834520147298463e-06,
                "transform": {
                    "location": {
                        "x": 929.654052734375,
                        "y": 3613.43310546875,
                        "z": 370.8810119628906
                    },
                    "rotation": {
                        "roll": 0.0004412292910274118,
                        "pitch": 0.03902086988091469,
                        "yaw": -80.38180541992188
                    }
                },
                "velocity": {
                    "x": 1.808511918000022e-08,
                    "y": 1.0081007530970965e-06,
                    "z": 7.76936940383166e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86280,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00432233139872551,
                "transform": {
                    "location": {
                        "x": 906.515380859375,
                        "y": 3576.513916015625,
                        "z": 371.1112060546875
                    },
                    "rotation": {
                        "roll": -0.005004880018532276,
                        "pitch": -0.8566559553146362,
                        "yaw": 9.195094108581543
                    }
                },
                "velocity": {
                    "x": -0.004138455726206303,
                    "y": -0.0007491407450288534,
                    "z": -0.000997257186099887
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86279,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00022269411419983953,
                "transform": {
                    "location": {
                        "x": 961.77685546875,
                        "y": 3582.451904296875,
                        "z": 370.6099853515625
                    },
                    "rotation": {
                        "roll": -0.0013122590025886893,
                        "pitch": 0.5874782204627991,
                        "yaw": -170.80503845214844
                    }
                },
                "velocity": {
                    "x": 0.00010413720883661881,
                    "y": 4.0254522900795564e-05,
                    "z": 0.0001926854602061212
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86278,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 938.7283325195312,
                        "y": 3515.762451171875,
                        "z": 370.78759765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15682797133922577,
                        "yaw": 99.14250946044922
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.198040450224653e-05,
                "transform": {
                    "location": {
                        "x": 934.3120727539062,
                        "y": 3605.1142578125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.00030553262331523,
                        "pitch": 0.039724379777908325,
                        "yaw": -80.65274810791016
                    }
                },
                "velocity": {
                    "x": -2.220146961917635e-05,
                    "y": 4.309039286454208e-05,
                    "z": -6.611429125769064e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.565148679423146e-05,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.252197265625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": 0.03884328529238701,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": -1.9377148419152945e-05,
                    "y": 1.152105596702313e-05,
                    "z": -1.2238880117365625e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 935.850830078125,
                        "y": 3595.607421875,
                        "z": 370.9020690917969
                    },
                    "rotation": {
                        "roll": 0.00026258244179189205,
                        "pitch": 0.09506256878376007,
                        "yaw": -80.77103424072266
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86268,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003184519009664655,
                "transform": {
                    "location": {
                        "x": 915.545166015625,
                        "y": 3577.946533203125,
                        "z": 371.03851318359375
                    },
                    "rotation": {
                        "roll": 0.005630500614643097,
                        "pitch": -0.4587633013725281,
                        "yaw": 8.34925651550293
                    }
                },
                "velocity": {
                    "x": 1.8139555322704837e-05,
                    "y": 1.016102669382235e-05,
                    "z": 0.00031777244294062257
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.81201171875,
                        "y": 3594.041259765625,
                        "z": 370.8978576660156
                    },
                    "rotation": {
                        "roll": 0.0002176612033508718,
                        "pitch": -0.005648565944284201,
                        "yaw": -80.75962829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86266,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 952.4230346679688,
                        "y": 3580.927734375,
                        "z": 370.70452880859375
                    },
                    "rotation": {
                        "roll": -0.000518797489348799,
                        "pitch": 0.5427951216697693,
                        "yaw": -170.74871826171875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.057003021240234,
                "transform": {
                    "location": {
                        "x": 935.8169555664062,
                        "y": 3533.245849609375,
                        "z": 370.8367614746094
                    },
                    "rotation": {
                        "roll": 0.0002654241106938571,
                        "pitch": 0.1181076243519783,
                        "yaw": 99.14459228515625
                    }
                },
                "velocity": {
                    "x": -1.280429482460022,
                    "y": 7.95458984375,
                    "z": 0.01734848879277706
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.464370250701904,
                "transform": {
                    "location": {
                        "x": 921.8187255859375,
                        "y": 3640.723876953125,
                        "z": 370.86712646484375
                    },
                    "rotation": {
                        "roll": -3.0517821869580075e-05,
                        "pitch": -0.011659132316708565,
                        "yaw": 99.21870422363281
                    }
                },
                "velocity": {
                    "x": -0.875336229801178,
                    "y": 5.393801212310791,
                    "z": -0.006089858710765839
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86287,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.843433141708374,
                "transform": {
                    "location": {
                        "x": 927.9155883789062,
                        "y": 3624.143310546875,
                        "z": 370.8814697265625
                    },
                    "rotation": {
                        "roll": 0.0015098407166078687,
                        "pitch": 0.19608105719089508,
                        "yaw": -80.38001251220703
                    }
                },
                "velocity": {
                    "x": 0.3098548948764801,
                    "y": -1.8172047138214111,
                    "z": 0.0016538810450583696
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.425634384155273,
                "transform": {
                    "location": {
                        "x": 920.9027709960938,
                        "y": 3626.358642578125,
                        "z": 370.87237548828125
                    },
                    "rotation": {
                        "roll": -0.009460457600653172,
                        "pitch": 0.5477879643440247,
                        "yaw": 99.6612777709961
                    }
                },
                "velocity": {
                    "x": -0.9220067262649536,
                    "y": 5.346719741821289,
                    "z": -0.0011701964540407062
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86289,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8518459796905518,
                "transform": {
                    "location": {
                        "x": 881.0167846679688,
                        "y": 3572.3154296875,
                        "z": 371.2800598144531
                    },
                    "rotation": {
                        "roll": -0.0007934533641673625,
                        "pitch": -0.32265812158584595,
                        "yaw": 9.325350761413574
                    }
                },
                "velocity": {
                    "x": 1.825074315071106,
                    "y": 0.3134467303752899,
                    "z": -0.01373618096113205
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86283,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.006318218540400267,
                "transform": {
                    "location": {
                        "x": 971.5260620117188,
                        "y": 3584.0498046875,
                        "z": 370.50213623046875
                    },
                    "rotation": {
                        "roll": 4.149907181272283e-05,
                        "pitch": 0.16601456701755524,
                        "yaw": -170.48318481445312
                    }
                },
                "velocity": {
                    "x": -0.006200603675097227,
                    "y": -0.001169782830402255,
                    "z": -0.0003224972460884601
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86197,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.281620502471924,
                "transform": {
                    "location": {
                        "x": 937.813232421875,
                        "y": 3541.265869140625,
                        "z": 370.8504333496094
                    },
                    "rotation": {
                        "roll": 0.0012078052386641502,
                        "pitch": 0.22241143882274628,
                        "yaw": 99.07383728027344
                    }
                },
                "velocity": {
                    "x": -0.8412966728210449,
                    "y": 5.214177131652832,
                    "z": 0.009511136449873447
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86190,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7656977772712708,
                "transform": {
                    "location": {
                        "x": 935.6231689453125,
                        "y": 3554.912353515625,
                        "z": 370.8661193847656
                    },
                    "rotation": {
                        "roll": -0.0017395209288224578,
                        "pitch": -0.3001731336116791,
                        "yaw": 99.15209197998047
                    }
                },
                "velocity": {
                    "x": -0.12179490923881531,
                    "y": 0.7559465765953064,
                    "z": 0.0019470596453174949
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.6527709960938,
                        "y": 3615.24951171875,
                        "z": 370.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.019787056371569633,
                        "yaw": -80.42985534667969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.061914443969727,
                "transform": {
                    "location": {
                        "x": 924.8278198242188,
                        "y": 3601.528564453125,
                        "z": 370.89935302734375
                    },
                    "rotation": {
                        "roll": -0.0006103532505221665,
                        "pitch": -0.04059181362390518,
                        "yaw": 99.13837432861328
                    }
                },
                "velocity": {
                    "x": -1.2803906202316284,
                    "y": 7.959587097167969,
                    "z": -0.006157713010907173
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86176,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032469749450684,
                "transform": {
                    "location": {
                        "x": 879.1371459960938,
                        "y": 3569.375244140625,
                        "z": 371.2969055175781
                    },
                    "rotation": {
                        "roll": 0.00020585645688697696,
                        "pitch": 0.3404507637023926,
                        "yaw": -170.86280822753906
                    }
                },
                "velocity": {
                    "x": -7.930418491363525,
                    "y": -1.2754396200180054,
                    "z": 0.04793373867869377
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86175,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.128719329833984,
                "transform": {
                    "location": {
                        "x": 940.4555053710938,
                        "y": 3524.826171875,
                        "z": 370.8098449707031
                    },
                    "rotation": {
                        "roll": 0.0025217533111572266,
                        "pitch": 0.32115548849105835,
                        "yaw": 99.09841918945312
                    }
                },
                "velocity": {
                    "x": -1.2857656478881836,
                    "y": 8.026360511779785,
                    "z": 0.020664414390921593
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86174,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.117638111114502,
                "transform": {
                    "location": {
                        "x": 933.2692260742188,
                        "y": 3569.498291015625,
                        "z": 370.8810729980469
                    },
                    "rotation": {
                        "roll": 0.0016482509672641754,
                        "pitch": 0.029253698885440826,
                        "yaw": 99.11112976074219
                    }
                },
                "velocity": {
                    "x": -0.651183545589447,
                    "y": 4.065818786621094,
                    "z": 0.004709424916654825
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86173,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.009284019470215,
                "transform": {
                    "location": {
                        "x": 953.3616333007812,
                        "y": 3584.29052734375,
                        "z": 370.6931457519531
                    },
                    "rotation": {
                        "roll": -0.012420650571584702,
                        "pitch": -0.5674725770950317,
                        "yaw": 9.686392784118652
                    }
                },
                "velocity": {
                    "x": 7.89846134185791,
                    "y": 1.3253536224365234,
                    "z": -0.07987694442272186
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050004959106445,
                "transform": {
                    "location": {
                        "x": 925.34521484375,
                        "y": 3618.76904296875,
                        "z": 370.8832702636719
                    },
                    "rotation": {
                        "roll": -0.0008239734452217817,
                        "pitch": -0.037839245051145554,
                        "yaw": 99.14532470703125
                    }
                },
                "velocity": {
                    "x": -1.2796307802200317,
                    "y": 7.947647571563721,
                    "z": -0.005841903388500214
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2501738369464874,
        "expert_target_speed": 10.0,
        "target_point": [
            16.7900702293429,
            0.7345636922114709
        ],
        "target_point_next": [
            16.7900702293429,
            0.7345636922114709
        ]
    },
    "765": {
        "acceleration": [
            -0.5213308334350586,
            2.9746246337890625,
            -0.08197937160730362
        ],
        "angular_velocity": [
            -0.5417947173118591,
            -0.07462655007839203,
            0.29201212525367737
        ],
        "forward_vector": [
            -0.14871454238891602,
            0.9888450503349304,
            0.008331678807735443
        ],
        "right_vector": [
            -0.9888789653778076,
            -0.14872196316719055,
            0.0002774922177195549
        ],
        "location": [
            926.8667602539062,
            3593.201904296875,
            370.8922119140625
        ],
        "rotation": [
            -0.01589968428015709,
            0.4773755669593811,
            98.55274200439453
        ],
        "velocity": [
            -2.523569345474243,
            16.785837173461914,
            0.004856834188103676
        ],
        "speed": 16.974472947794084,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.575760841369629,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                924.5089111328125,
                3603.511474609375,
                370.89801025390625
            ],
            "velocity": [
                -1.2728018760681152,
                7.912574291229248,
                -0.005714425817131996
            ],
            "speed_kmh": 28.85145410256659,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7349322661175393e-05,
                "transform": {
                    "location": {
                        "x": 929.654052734375,
                        "y": 3613.43310546875,
                        "z": 370.8810119628906
                    },
                    "rotation": {
                        "roll": 0.0004412292910274118,
                        "pitch": 0.03902086988091469,
                        "yaw": -80.38180541992188
                    }
                },
                "velocity": {
                    "x": -3.576290339424304e-07,
                    "y": 1.3042055115874973e-06,
                    "z": 1.7296535588684492e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003539358440320939,
                "transform": {
                    "location": {
                        "x": 934.3120727539062,
                        "y": 3605.1142578125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.00017184032185468823,
                        "pitch": 0.039785850793123245,
                        "yaw": -80.65274810791016
                    }
                },
                "velocity": {
                    "x": -1.596854986019025e-06,
                    "y": -9.423587243873044e-07,
                    "z": -0.0003539309836924076
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.254492185078561e-05,
                "transform": {
                    "location": {
                        "x": 931.3256225585938,
                        "y": 3603.252197265625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": 0.0003220744838472456,
                        "pitch": 0.03896622732281685,
                        "yaw": -80.51773834228516
                    }
                },
                "velocity": {
                    "x": -2.7158605007571168e-05,
                    "y": 1.7884094631881453e-05,
                    "z": 1.3195339079175028e-06
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.024785468354821205,
                "transform": {
                    "location": {
                        "x": 935.851318359375,
                        "y": 3595.6044921875,
                        "z": 370.90240478515625
                    },
                    "rotation": {
                        "roll": -0.00027465837774798274,
                        "pitch": 0.045045096427202225,
                        "yaw": -80.77116394042969
                    }
                },
                "velocity": {
                    "x": 0.004053344018757343,
                    "y": -0.02444600686430931,
                    "z": -0.0005316352471709251
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.11023600399494171,
                "transform": {
                    "location": {
                        "x": 932.8131103515625,
                        "y": 3594.03466796875,
                        "z": 370.8976135253906
                    },
                    "rotation": {
                        "roll": -0.0008544918964616954,
                        "pitch": 0.007636151276528835,
                        "yaw": -80.74705505371094
                    }
                },
                "velocity": {
                    "x": 0.018705034628510475,
                    "y": -0.1086219772696495,
                    "z": 0.0018343734554946423
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.637067794799805,
                "transform": {
                    "location": {
                        "x": 921.5481567382812,
                        "y": 3642.392333984375,
                        "z": 370.8656311035156
                    },
                    "rotation": {
                        "roll": 2.8188025680719875e-05,
                        "pitch": 0.19173705577850342,
                        "yaw": 99.23217010498047
                    }
                },
                "velocity": {
                    "x": -1.2223018407821655,
                    "y": 7.538616180419922,
                    "z": -0.0069505306892097
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86287,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1097726821899414,
                "transform": {
                    "location": {
                        "x": 928.0025634765625,
                        "y": 3623.634521484375,
                        "z": 370.88177490234375
                    },
                    "rotation": {
                        "roll": 0.00106891302857548,
                        "pitch": 0.019739245995879173,
                        "yaw": -80.35204315185547
                    }
                },
                "velocity": {
                    "x": 0.18703515827655792,
                    "y": -1.0938974618911743,
                    "z": 0.0013127136044204235
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.719856262207031,
                "transform": {
                    "location": {
                        "x": 920.6744384765625,
                        "y": 3627.68896484375,
                        "z": 370.8725280761719
                    },
                    "rotation": {
                        "roll": 0.007723374292254448,
                        "pitch": 0.24683618545532227,
                        "yaw": 99.75935363769531
                    }
                },
                "velocity": {
                    "x": -0.9536363482475281,
                    "y": 5.639798641204834,
                    "z": -0.0021807574667036533
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.6527709960938,
                        "y": 3615.24951171875,
                        "z": 370.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.019787056371569633,
                        "yaw": -80.42985534667969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.01429271697998,
                "transform": {
                    "location": {
                        "x": 924.5089111328125,
                        "y": 3603.511474609375,
                        "z": 370.89801025390625
                    },
                    "rotation": {
                        "roll": -0.000244139286223799,
                        "pitch": -0.039799511432647705,
                        "yaw": 99.13841247558594
                    }
                },
                "velocity": {
                    "x": -1.2728018760681152,
                    "y": 7.912574291229248,
                    "z": -0.005714425817131996
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057384490966797,
                "transform": {
                    "location": {
                        "x": 925.0252075195312,
                        "y": 3620.756103515625,
                        "z": 370.88189697265625
                    },
                    "rotation": {
                        "roll": 0.0001507561100879684,
                        "pitch": -0.037292830646038055,
                        "yaw": 99.14840698242188
                    }
                },
                "velocity": {
                    "x": -1.28081476688385,
                    "y": 7.954930782318115,
                    "z": -0.005532693583518267
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2681797444820404,
        "expert_target_speed": 10.0,
        "target_point": [
            12.6474179486045,
            0.7202194276332705
        ],
        "target_point_next": [
            12.6474179486045,
            0.7202194276332705
        ]
    },
    "770": {
        "acceleration": [
            -0.4663658142089844,
            2.2473526000976562,
            -0.027794456109404564
        ],
        "angular_velocity": [
            -0.3971431255340576,
            -0.0022165130358189344,
            0.3831631541252136
        ],
        "forward_vector": [
            -0.15008926391601562,
            0.9886536002159119,
            0.00611206004396081
        ],
        "right_vector": [
            -0.9886714816093445,
            -0.1500948667526245,
            0.0004660447302740067
        ],
        "location": [
            926.219970703125,
            3597.486083984375,
            370.892333984375
        ],
        "rotation": [
            -0.026702895760536194,
            0.350197434425354,
            98.63226318359375
        ],
        "velocity": [
            -2.6466870307922363,
            17.446533203125,
            -0.006093311123549938
        ],
        "speed": 17.64614612448585,
        "speed_limit": 50.0,
        "lane_info": {
            "lane_id": -2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 8.325393676757812,
        "front_vehicle_info": {
            "id": 86177,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                924.1797485351562,
                3605.5576171875,
                370.8969421386719
            ],
            "velocity": [
                -1.3735190629959106,
                8.538576126098633,
                -0.006353797856718302
            ],
            "speed_kmh": 31.13404325073297,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 86281,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.08155310153961182,
                "transform": {
                    "location": {
                        "x": 929.6546020507812,
                        "y": 3613.429931640625,
                        "z": 370.8810119628906
                    },
                    "rotation": {
                        "roll": -0.0001220696431118995,
                        "pitch": 0.03953996300697327,
                        "yaw": -80.3825454711914
                    }
                },
                "velocity": {
                    "x": 0.01332877203822136,
                    "y": -0.0804564580321312,
                    "z": -0.00010267257312079892
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 86277,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00015749350131954998,
                "transform": {
                    "location": {
                        "x": 934.3120727539062,
                        "y": 3605.1142578125,
                        "z": 370.88983154296875
                    },
                    "rotation": {
                        "roll": 0.00017184032185468823,
                        "pitch": 0.039785850793123245,
                        "yaw": -80.65274810791016
                    }
                },
                "velocity": {
                    "x": 1.8431754142511636e-05,
                    "y": 5.477946160681313e-06,
                    "z": -0.0001563152763992548
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86276,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.012575644999742508,
                "transform": {
                    "location": {
                        "x": 931.3258666992188,
                        "y": 3603.2509765625,
                        "z": 370.8957214355469
                    },
                    "rotation": {
                        "roll": -0.0010375953279435635,
                        "pitch": 0.042634040117263794,
                        "yaw": -80.51789093017578
                    }
                },
                "velocity": {
                    "x": -0.0020642667077481747,
                    "y": 0.012404030188918114,
                    "z": -0.00016029358084779233
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86269,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.038983944803476334,
                "transform": {
                    "location": {
                        "x": 935.8524780273438,
                        "y": 3595.59716796875,
                        "z": 370.9027404785156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0023632452357560396,
                        "yaw": -80.77146911621094
                    }
                },
                "velocity": {
                    "x": 0.006238511763513088,
                    "y": -0.0384545736014843,
                    "z": 0.0014403628883883357
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 86267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7934874296188354,
                "transform": {
                    "location": {
                        "x": 932.8301391601562,
                        "y": 3593.92919921875,
                        "z": 370.8979187011719
                    },
                    "rotation": {
                        "roll": -3.0519098800141364e-05,
                        "pitch": 0.07968781143426895,
                        "yaw": -80.82129669189453
                    }
                },
                "velocity": {
                    "x": 0.12717364728450775,
                    "y": -0.7832276821136475,
                    "z": 0.001905412646010518
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86264,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.725653648376465,
                "transform": {
                    "location": {
                        "x": 921.2216796875,
                        "y": 3644.40966796875,
                        "z": 370.86328125
                    },
                    "rotation": {
                        "roll": 0.0014721294865012169,
                        "pitch": 0.12691856920719147,
                        "yaw": 99.18376159667969
                    }
                },
                "velocity": {
                    "x": -1.3925137519836426,
                    "y": 8.61381721496582,
                    "z": -0.009411449544131756
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 86287,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0037282081320881844,
                "transform": {
                    "location": {
                        "x": 928.005615234375,
                        "y": 3623.61669921875,
                        "z": 370.8817443847656
                    },
                    "rotation": {
                        "roll": 0.00011972886568401009,
                        "pitch": -0.15775004029273987,
                        "yaw": -80.35151672363281
                    }
                },
                "velocity": {
                    "x": -0.001079122070223093,
                    "y": 0.0033564569894224405,
                    "z": 0.0012121169129386544
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 86262,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.454752445220947,
                "transform": {
                    "location": {
                        "x": 920.393798828125,
                        "y": 3629.35546875,
                        "z": 370.87030029296875
                    },
                    "rotation": {
                        "roll": 0.01956920512020588,
                        "pitch": 0.5498780012130737,
                        "yaw": 99.58809661865234
                    }
                },
                "velocity": {
                    "x": -1.230890154838562,
                    "y": 7.352428913116455,
                    "z": -0.005971879698336124
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86282,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 932.6527709960938,
                        "y": 3615.24951171875,
                        "z": 370.8829345703125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.019787056371569633,
                        "yaw": -80.42985534667969
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 86177,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.648344993591309,
                "transform": {
                    "location": {
                        "x": 924.1797485351562,
                        "y": 3605.5576171875,
                        "z": 370.8969421386719
                    },
                    "rotation": {
                        "roll": -0.0007629409665241838,
                        "pitch": -0.08623796701431274,
                        "yaw": 99.13854217529297
                    }
                },
                "velocity": {
                    "x": -1.3735190629959106,
                    "y": 8.538576126098633,
                    "z": -0.006353797856718302
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 86172,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.740365982055664,
                "transform": {
                    "location": {
                        "x": 924.6939086914062,
                        "y": 3622.813720703125,
                        "z": 370.8805847167969
                    },
                    "rotation": {
                        "roll": 0.00023567993775941432,
                        "pitch": 0.04440988600254059,
                        "yaw": 99.14839172363281
                    }
                },
                "velocity": {
                    "x": -1.3897231817245483,
                    "y": 8.629173278808594,
                    "z": -0.005646286066621542
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2912147045135498,
        "expert_target_speed": 8.718634992621737,
        "target_point": [
            8.315678394966476,
            0.706231599197634
        ],
        "target_point_next": [
            8.315678394966476,
            0.706231599197634
        ]
    }
}